82 lines
1.9 KiB
Rust
82 lines
1.9 KiB
Rust
#[derive(Clone, Copy)]
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pub struct Parameters {
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pub kp: f32,
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pub ki: f32,
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pub kd: f32,
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pub output_min: f32,
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pub output_max: f32,
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pub integral_min: f32,
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pub integral_max: f32
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}
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#[derive(Clone)]
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pub struct Controller {
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parameters: Parameters,
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target: f32,
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integral: f32,
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last_input: Option<f32>
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}
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impl Controller {
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pub const fn new(parameters: Parameters) -> Controller {
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Controller {
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parameters: parameters,
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target: 0.0,
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last_input: None,
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integral: 0.0
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}
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}
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pub fn update(&mut self, input: f32) -> f32 {
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let error = self.target - input;
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let p = self.parameters.kp * error;
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self.integral += error;
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if self.integral < self.parameters.integral_min {
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self.integral = self.parameters.integral_min;
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}
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if self.integral > self.parameters.integral_max {
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self.integral = self.parameters.integral_max;
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}
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let i = self.parameters.ki * self.integral;
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let d = match self.last_input {
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None => 0.0,
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Some(last_input) => self.parameters.kd * (last_input - input)
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};
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self.last_input = Some(input);
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let mut output = p + i + d;
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if output < self.parameters.output_min {
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output = self.parameters.output_min;
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}
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if output > self.parameters.output_max {
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output = self.parameters.output_max;
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}
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output
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}
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pub fn get_target(&self) -> f32 {
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self.target
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}
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pub fn set_target(&mut self, target: f32) {
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self.target = target;
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}
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pub fn get_parameters(&self) -> &Parameters {
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&self.parameters
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}
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pub fn update_parameters<F: FnOnce(&mut Parameters)>(&mut self, f: F) {
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f(&mut self.parameters);
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}
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#[allow(dead_code)]
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pub fn reset(&mut self) {
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self.integral = 0.0;
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self.last_input = None;
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}
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}
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