add .clang-format
Change-Id: I6627b5569c2e0f730be7331403218b823a2c622f
Signed-off-by: Patrick Venture <venture@google.com>
diff --git a/pid/ec/pid.cpp b/pid/ec/pid.cpp
index a1c4e41..ef0df14 100644
--- a/pid/ec/pid.cpp
+++ b/pid/ec/pid.cpp
@@ -53,15 +53,15 @@
// calculate P, I, D, FF
// Pid
- error = setpoint - input;
- p_term = pidinfoptr->p_c * error;
+ error = setpoint - input;
+ p_term = pidinfoptr->p_c * error;
// pId
if (0.0f != pidinfoptr->i_c)
{
- i_term = pidinfoptr->integral;
- i_term += error * pidinfoptr->i_c * pidinfoptr->ts;
- i_term = clamp(i_term, pidinfoptr->i_lim.min, pidinfoptr->i_lim.max);
+ i_term = pidinfoptr->integral;
+ i_term += error * pidinfoptr->i_c * pidinfoptr->ts;
+ i_term = clamp(i_term, pidinfoptr->i_lim.min, pidinfoptr->i_lim.max);
}
// FF
@@ -79,8 +79,8 @@
if (pidinfoptr->slew_neg != 0.0f)
{
// Don't decrease too fast
- float min_out = pidinfoptr->last_output + pidinfoptr->slew_neg *
- pidinfoptr->ts;
+ float min_out =
+ pidinfoptr->last_output + pidinfoptr->slew_neg * pidinfoptr->ts;
if (output < min_out)
{
output = min_out;
@@ -89,8 +89,8 @@
if (pidinfoptr->slew_pos != 0.0f)
{
// Don't increase too fast
- float max_out = pidinfoptr->last_output + pidinfoptr->slew_pos *
- pidinfoptr->ts;
+ float max_out =
+ pidinfoptr->last_output + pidinfoptr->slew_pos * pidinfoptr->ts;
if (output > max_out)
{
output = max_out;
@@ -107,12 +107,12 @@
// Clamp again because having limited the output may result in a
// larger integral term
- i_term = clamp(i_term, pidinfoptr->i_lim.min, pidinfoptr->i_lim.max);
+ i_term = clamp(i_term, pidinfoptr->i_lim.min, pidinfoptr->i_lim.max);
pidinfoptr->integral = i_term;
- pidinfoptr->initialized = true;
- pidinfoptr->last_output = output;
+ pidinfoptr->initialized = true;
+ pidinfoptr->last_output = output;
return output;
}
-}
+} // namespace ec