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

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This commit is contained in:
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
View File

@ -103,7 +103,7 @@ impl Channels {
CenterPoint::Vref =>
state.vref,
CenterPoint::Override(center_point) =>
ElectricPotential::new::<volt>(center_point),
ElectricPotential::new::<volt>(center_point.into()),
};
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
let (voltage, max) = self.get_dac(channel);
@ -137,7 +137,7 @@ impl Channels {
CenterPoint::Vref =>
state.vref,
CenterPoint::Override(center_point) =>
ElectricPotential::new::<volt>(center_point),
ElectricPotential::new::<volt>(center_point.into()),
};
let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
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)]
pub enum CenterPoint {
Vref,
Override(f64),
Override(f32),
}
#[derive(Debug, Clone, PartialEq)]
@ -312,7 +312,7 @@ fn center_point(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
value(Ok(CenterPoint::Vref), tag("vref")),
|input| {
let (input, value) = float(input)?;
Ok((input, value.map(CenterPoint::Override)))
Ok((input, value.map(|value| CenterPoint::Override(value as f32))))
}
))(input)?;
end(input)?;

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

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

36
src/pid.rs
View File

@ -2,13 +2,13 @@ use serde::{Serialize, Deserialize};
#[derive(Clone, Serialize, Deserialize)]
pub struct Parameters {
pub kp: f64,
pub ki: f64,
pub kd: f64,
pub output_min: f64,
pub output_max: f64,
pub integral_min: f64,
pub integral_max: f64
pub kp: f32,
pub ki: f32,
pub kd: f32,
pub output_min: f32,
pub output_max: f32,
pub integral_min: f32,
pub integral_max: f32
}
impl Default for Parameters {
@ -50,32 +50,32 @@ impl Controller {
let error = self.target - input;
// partial
let p = self.parameters.kp * error;
let p = f64::from(self.parameters.kp) * error;
//integral
self.integral += error;
if self.integral < self.parameters.integral_min {
self.integral = self.parameters.integral_min;
if self.integral < self.parameters.integral_min.into() {
self.integral = self.parameters.integral_min.into();
}
if self.integral > self.parameters.integral_max {
self.integral = self.parameters.integral_max;
if self.integral > self.parameters.integral_max.into() {
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
let d = match self.last_input {
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);
// output
let mut output = p + i + d;
if output < self.parameters.output_min {
output = self.parameters.output_min;
if output < self.parameters.output_min.into() {
output = self.parameters.output_min.into();
}
if output > self.parameters.output_max {
output = self.parameters.output_max;
if output > self.parameters.output_max.into() {
output = self.parameters.output_max.into();
}
self.last_output = Some(output);
output