blob: 9d666efa76f0c7e2b90ee20a67161c12e322ab64 [file] [log] [blame]
/**
* Copyright 2017 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "ec/pid.hpp"
#include <cstring>
#include <iostream>
void initializePIDStruct(ec::pid_info_t* info, const ec::pidinfo& initial)
{
std::memset(info, 0x00, sizeof(ec::pid_info_t));
info->ts = initial.ts;
info->p_c = initial.p_c;
info->i_c = initial.i_c;
info->ff_off = initial.ff_off;
info->ff_gain = initial.ff_gain;
info->i_lim.min = initial.i_lim.min;
info->i_lim.max = initial.i_lim.max;
info->out_lim.min = initial.out_lim.min;
info->out_lim.max = initial.out_lim.max;
info->slew_neg = initial.slew_neg;
info->slew_pos = initial.slew_pos;
}
void dumpPIDStruct(ec::pid_info_t* info)
{
std::cerr << " ts: " << info->ts << " p_c: " << info->p_c
<< " i_c: " << info->i_c << " ff_off: " << info->ff_off
<< " ff_gain: " << info->ff_gain
<< " i_lim.min: " << info->i_lim.min
<< " i_lim.max: " << info->i_lim.max
<< " out_lim.min: " << info->out_lim.min
<< " out_lim.max: " << info->out_lim.max
<< " slew_neg: " << info->slew_neg
<< " slew_pos: " << info->slew_pos
<< " last_output: " << info->last_output
<< " integral: " << info->integral << std::endl;
return;
}