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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
James Feist22c257a2018-08-31 14:07:12 -070017#include "pidcontroller.hpp"
Patrick Ventureda4a5dd2018-08-31 09:42:48 -070018
19#include "ec/pid.hpp"
20
Patrick Ventured8012182018-03-08 08:21:38 -080021#include <algorithm>
22#include <chrono>
23#include <iostream>
24#include <map>
25#include <memory>
26#include <thread>
27#include <vector>
28
James Feist22c257a2018-08-31 14:07:12 -070029void PIDController::process(void)
Patrick Ventured8012182018-03-08 08:21:38 -080030{
31 float input;
32 float setpt;
33 float output;
34
35 // Get setpt value
Patrick Venture563a3562018-10-30 09:31:26 -070036 setpt = setptProc();
Patrick Ventured8012182018-03-08 08:21:38 -080037
38 // Get input value
Patrick Venture563a3562018-10-30 09:31:26 -070039 input = inputProc();
Patrick Ventured8012182018-03-08 08:21:38 -080040
41 // Calculate new output
Patrick Venture563a3562018-10-30 09:31:26 -070042 output = ec::pid(getPIDInfo(), input, setpt);
Patrick Ventured8012182018-03-08 08:21:38 -080043
44 // Output new value
Patrick Venture563a3562018-10-30 09:31:26 -070045 outputProc(output);
Patrick Ventured8012182018-03-08 08:21:38 -080046
47 return;
48}