59 lines
1.3 KiB
Rust
59 lines
1.3 KiB
Rust
use core::num::Float;
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use board;
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use pid;
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const PID_PARAMETERS: pid::Parameters = pid::Parameters {
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kp: 0.004,
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ki: 0.002,
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kd: 0.0,
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output_min: 0.0,
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output_max: 30.0,
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integral_min: -5000.0,
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integral_max: 5000.0
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};
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pub struct Controller {
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pid: pid::Controller,
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fbv_target: f32,
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last_fv: Option<f32>,
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last_fbv: Option<f32>
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}
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impl Controller {
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pub const fn new() -> Controller {
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Controller {
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pid: pid::Controller::new(PID_PARAMETERS),
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fbv_target: 0.0,
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last_fv: None,
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last_fbv: None,
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}
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}
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pub fn adc_input(&mut self, _fbi_sample: u16, _fd_sample: u16, fv_sample: u16, fbv_sample: u16) {
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self.last_fbv = Some(fbv_sample as f32/board::FBV_ADC_GAIN);
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self.last_fv = Some(fv_sample as f32/board::FV_ADC_GAIN);
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}
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pub fn set_bias_target(&mut self, volts: f32) {
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self.fbv_target = volts;
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board::set_fbv_pwm((volts/board::FBV_PWM_GAIN) as u16);
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}
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pub fn emission_ready(&self) -> bool {
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false
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}
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pub fn bias_ready(&self) -> bool {
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match self.last_fbv {
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None => false,
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Some(last_fbv) => (self.fbv_target - last_fbv).abs() < 1.0
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}
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}
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pub fn ready(&self) -> bool {
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self.emission_ready() & self.bias_ready()
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}
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}
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