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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
17#include <algorithm>
18#include <chrono>
19#include <iostream>
20#include <map>
21#include <memory>
22#include <thread>
23#include <vector>
24
25#include "controller.hpp"
26#include "ec/pid.hpp"
27
28
29void PIDController::pid_process(void)
30{
31 float input;
32 float setpt;
33 float output;
34
35 // Get setpt value
36 setpt = setpt_proc();
37
38 // Get input value
39 input = input_proc();
40
41 // Calculate new output
42 output = ec::pid(get_pid_info(), input, setpt);
43
44 // Output new value
45 output_proc(output);
46
47 return;
48}