100 lines
3.0 KiB
Rust
100 lines
3.0 KiB
Rust
use crate::{
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ad7172::PostFilter,
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b_parameter,
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channels::Channels,
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command_parser::{CenterPoint, Polarity},
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pid,
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};
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use num_traits::Zero;
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use serde::{Deserialize, Serialize};
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use uom::si::f64::{ElectricCurrent, ElectricPotential};
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#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
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pub struct ChannelConfig {
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center: CenterPoint,
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pid: pid::Parameters,
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pid_target: f32,
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pid_engaged: bool,
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i_set: ElectricCurrent,
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polarity: Polarity,
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bp: b_parameter::Parameters,
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pwm: PwmLimits,
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/// uses variant `PostFilter::Invalid` instead of `None` to save space
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adc_postfilter: PostFilter,
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}
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impl ChannelConfig {
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pub fn new(channels: &mut Channels, channel: usize) -> Self {
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let pwm = PwmLimits::new(channels, channel);
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let adc_postfilter = channels
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.adc
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.get_postfilter(channel as u8)
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.unwrap()
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.unwrap_or(PostFilter::Invalid);
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let state = channels.channel_state(channel);
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let i_set = if state.pid_engaged {
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ElectricCurrent::zero()
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} else {
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state.i_set
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};
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ChannelConfig {
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center: state.center.clone(),
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pid: state.pid.parameters.clone(),
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pid_target: state.pid.target as f32,
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pid_engaged: state.pid_engaged,
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i_set,
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polarity: state.polarity.clone(),
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bp: state.bp.clone(),
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pwm,
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adc_postfilter,
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}
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}
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pub fn apply(&self, channels: &mut Channels, channel: usize) {
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let state = channels.channel_state(channel);
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state.center = self.center.clone();
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state.pid.parameters = self.pid.clone();
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state.pid.target = self.pid_target.into();
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state.pid_engaged = self.pid_engaged;
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state.bp = self.bp.clone();
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self.pwm.apply(channels, channel);
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let adc_postfilter = match self.adc_postfilter {
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PostFilter::Invalid => None,
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adc_postfilter => Some(adc_postfilter),
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};
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let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
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let _ = channels.set_i(channel, self.i_set);
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channels.set_polarity(channel, self.polarity.clone());
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}
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}
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#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
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pub struct PwmLimits {
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pub max_v: ElectricPotential,
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pub max_i_pos: ElectricCurrent,
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pub max_i_neg: ElectricCurrent,
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}
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impl PwmLimits {
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pub fn new(channels: &mut Channels, channel: usize) -> Self {
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let max_v = channels.get_max_v(channel);
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let max_i_pos = channels.get_max_i_pos(channel);
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let max_i_neg = channels.get_max_i_neg(channel);
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PwmLimits {
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max_v,
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max_i_pos,
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max_i_neg,
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}
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}
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pub fn apply(&self, channels: &mut Channels, channel: usize) {
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channels.set_max_v(channel, self.max_v);
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channels.set_max_i_pos(channel, self.max_i_pos);
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channels.set_max_i_neg(channel, self.max_i_neg);
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}
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}
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