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Patrick Ventured8012182018-03-08 08:21:38 -08001/**
2 * Copyright 2017 Google Inc.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
Patrick Ventureda4a5dd2018-08-31 09:42:48 -070017#include "ec/pid.hpp"
18
Patrick Ventured8012182018-03-08 08:21:38 -080019#include <cstring>
20#include <iostream>
21
Patrick Venture7af157b2018-10-30 11:24:40 -070022void initializePIDStruct(ec::pid_info_t* info, const ec::pidinfo& initial)
Patrick Ventured8012182018-03-08 08:21:38 -080023{
24 std::memset(info, 0x00, sizeof(ec::pid_info_t));
25
Patrick Venturef77d5a52018-10-23 09:32:52 -070026 info->ts = initial.ts;
27 info->p_c = initial.p_c;
28 info->i_c = initial.i_c;
29 info->ff_off = initial.ff_off;
30 info->ff_gain = initial.ff_gain;
31 info->i_lim.min = initial.i_lim.min;
32 info->i_lim.max = initial.i_lim.max;
33 info->out_lim.min = initial.out_lim.min;
34 info->out_lim.max = initial.out_lim.max;
35 info->slew_neg = initial.slew_neg;
36 info->slew_pos = initial.slew_pos;
Patrick Ventured8012182018-03-08 08:21:38 -080037}
38
Patrick Venture7af157b2018-10-30 11:24:40 -070039void dumpPIDStruct(ec::pid_info_t* info)
Patrick Ventured8012182018-03-08 08:21:38 -080040{
Patrick Ventureda4a5dd2018-08-31 09:42:48 -070041 std::cerr << " ts: " << info->ts << " p_c: " << info->p_c
42 << " i_c: " << info->i_c << " ff_off: " << info->ff_off
Patrick Ventured8012182018-03-08 08:21:38 -080043 << " ff_gain: " << info->ff_gain
44 << " i_lim.min: " << info->i_lim.min
45 << " i_lim.max: " << info->i_lim.max
46 << " out_lim.min: " << info->out_lim.min
47 << " out_lim.max: " << info->out_lim.max
48 << " slew_neg: " << info->slew_neg
49 << " slew_pos: " << info->slew_pos
50 << " last_output: " << info->last_output
Patrick Ventureda4a5dd2018-08-31 09:42:48 -070051 << " integral: " << info->integral << std::endl;
Patrick Ventured8012182018-03-08 08:21:38 -080052
53 return;
54}