40 lines
785 B
Rust
40 lines
785 B
Rust
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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}
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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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}
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}
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pub fn adc_input(&mut self, av_sample: u16) {
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let pid_out = self.pid.update(av_sample as f32);
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board::set_hv_pwm(pid_out as u16)
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}
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pub fn set_target(&mut self, volts: f32) {
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self.pid.set_target(volts*board::AV_ADC_GAIN)
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}
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pub fn ready(&mut self) -> bool {
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self.pid.is_within(1.0*board::AV_ADC_GAIN)
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}
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}
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