blob: 138268b770ac1a2489ee682810731cc8a2ac7321 [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 "controller.hpp"
#include "ec/pid.hpp"
#include <algorithm>
#include <chrono>
#include <iostream>
#include <map>
#include <memory>
#include <thread>
#include <vector>
void PIDController::pid_process(void)
{
float input;
float setpt;
float output;
// Get setpt value
setpt = setpt_proc();
// Get input value
input = input_proc();
// Calculate new output
output = ec::pid(get_pid_info(), input, setpt);
// Output new value
output_proc(output);
return;
}