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pid::Parameters, CenterPoint: demote f32 fields to save config space

pull/20/head
Astro 2020-09-24 20:45:07 +02:00
parent c5c0ce5625
commit 58e648b5e0
5 changed files with 31 additions and 31 deletions
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4
src/channels.rs
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@ -103,7 +103,7 @@ impl Channels {
CenterPoint::Vref => CenterPoint::Vref =>
state.vref, state.vref,
CenterPoint::Override(center_point) => CenterPoint::Override(center_point) =>
ElectricPotential::new::<volt>(center_point), ElectricPotential::new::<volt>(center_point.into()),
}; };
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE); let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
let (voltage, max) = self.get_dac(channel); let (voltage, max) = self.get_dac(channel);
@ -137,7 +137,7 @@ impl Channels {
CenterPoint::Vref => CenterPoint::Vref =>
state.vref, state.vref,
CenterPoint::Override(center_point) => CenterPoint::Override(center_point) =>
ElectricPotential::new::<volt>(center_point), ElectricPotential::new::<volt>(center_point.into()),
}; };
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE); let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
let voltage = i_tec * 10.0 * r_sense + center_point; let voltage = i_tec * 10.0 * r_sense + center_point;

4
src/command_parser.rs
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@ -126,7 +126,7 @@ pub enum PwmPin {
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)] #[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
pub enum CenterPoint { pub enum CenterPoint {
Vref, Vref,
Override(f64), Override(f32),
} }
#[derive(Debug, Clone, PartialEq)] #[derive(Debug, Clone, PartialEq)]
@ -312,7 +312,7 @@ fn center_point(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
value(Ok(CenterPoint::Vref), tag("vref")), value(Ok(CenterPoint::Vref), tag("vref")),
|input| { |input| {
let (input, value) = float(input)?; let (input, value) = float(input)?;
Ok((input, value.map(CenterPoint::Override))) Ok((input, value.map(|value| CenterPoint::Override(value as f32))))
} }
))(input)?; ))(input)?;
end(input)?; end(input)?;

4
src/config.rs
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@ -37,7 +37,7 @@ impl Config {
pub struct ChannelConfig { pub struct ChannelConfig {
center: CenterPoint, center: CenterPoint,
pid: pid::Parameters, pid: pid::Parameters,
pid_target: f64, pid_target: f32,
sh: steinhart_hart::Parameters, sh: steinhart_hart::Parameters,
// TODO: pwm limits // TODO: pwm limits
} }
@ -47,7 +47,7 @@ impl ChannelConfig {
ChannelConfig { ChannelConfig {
center: state.center.clone(), center: state.center.clone(),
pid: state.pid.parameters.clone(), pid: state.pid.parameters.clone(),
pid_target: state.pid.target, pid_target: state.pid.target as f32,
sh: state.sh.clone(), sh: state.sh.clone(),
} }
} }

14
src/main.rs
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@ -388,19 +388,19 @@ fn main() -> ! {
pid.reset(); pid.reset();
} }
KP => KP =>
pid.parameters.kp = value, pid.parameters.kp = value as f32,
KI => KI =>
pid.parameters.ki = value, pid.parameters.ki = value as f32,
KD => KD =>
pid.parameters.kd = value, pid.parameters.kd = value as f32,
OutputMin => OutputMin =>
pid.parameters.output_min = value, pid.parameters.output_min = value as f32,
OutputMax => OutputMax =>
pid.parameters.output_max = value, pid.parameters.output_max = value as f32,
IntegralMin => IntegralMin =>
pid.parameters.integral_min = value, pid.parameters.integral_min = value as f32,
IntegralMax => IntegralMax =>
pid.parameters.integral_max = value, pid.parameters.integral_max = value as f32,
} }
let _ = writeln!(socket, "PID parameter updated"); let _ = writeln!(socket, "PID parameter updated");
} }

36
src/pid.rs
View File

@ -2,13 +2,13 @@ use serde::{Serialize, Deserialize};
#[derive(Clone, Serialize, Deserialize)] #[derive(Clone, Serialize, Deserialize)]
pub struct Parameters { pub struct Parameters {
pub kp: f64, pub kp: f32,
pub ki: f64, pub ki: f32,
pub kd: f64, pub kd: f32,
pub output_min: f64, pub output_min: f32,
pub output_max: f64, pub output_max: f32,
pub integral_min: f64, pub integral_min: f32,
pub integral_max: f64 pub integral_max: f32
} }
impl Default for Parameters { impl Default for Parameters {
@ -50,32 +50,32 @@ impl Controller {
let error = self.target - input; let error = self.target - input;
// partial // partial
let p = self.parameters.kp * error; let p = f64::from(self.parameters.kp) * error;
//integral //integral
self.integral += error; self.integral += error;
if self.integral < self.parameters.integral_min { if self.integral < self.parameters.integral_min.into() {
self.integral = self.parameters.integral_min; self.integral = self.parameters.integral_min.into();
} }
if self.integral > self.parameters.integral_max { if self.integral > self.parameters.integral_max.into() {
self.integral = self.parameters.integral_max; self.integral = self.parameters.integral_max.into();
} }
let i = self.parameters.ki * self.integral; let i = f64::from(self.parameters.ki) * f64::from(self.integral);
// derivative // derivative
let d = match self.last_input { let d = match self.last_input {
None => 0.0, None => 0.0,
Some(last_input) => self.parameters.kd * (last_input - input) Some(last_input) => f64::from(self.parameters.kd) * (last_input - input)
}; };
self.last_input = Some(input); self.last_input = Some(input);
// output // output
let mut output = p + i + d; let mut output = p + i + d;
if output < self.parameters.output_min { if output < self.parameters.output_min.into() {
output = self.parameters.output_min; output = self.parameters.output_min.into();
} }
if output > self.parameters.output_max { if output > self.parameters.output_max.into() {
output = self.parameters.output_max; output = self.parameters.output_max.into();
} }
self.last_output = Some(output); self.last_output = Some(output);
output output