ionpak-thermostat/firmware/src/loop_cathode.rs

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use core::num::Float;
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use board;
use pid;
const PID_PARAMETERS: pid::Parameters = pid::Parameters {
kp: 0.004,
ki: 0.002,
kd: 0.0,
output_min: 0.0,
output_max: 30.0,
integral_min: -5000.0,
integral_max: 5000.0
};
pub struct Controller {
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pid: pid::Controller,
fbv_target: f32,
last_fv: Option<f32>,
last_fbv: Option<f32>
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}
impl Controller {
pub const fn new() -> Controller {
Controller {
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pid: pid::Controller::new(PID_PARAMETERS),
fbv_target: 0.0,
last_fv: None,
last_fbv: None,
}
}
pub fn adc_input(&mut self, _fbi_sample: u16, _fd_sample: u16, fv_sample: u16, fbv_sample: u16) {
self.last_fbv = Some(fbv_sample as f32/board::FBV_ADC_GAIN);
self.last_fv = Some(fv_sample as f32/board::FV_ADC_GAIN);
}
pub fn set_bias_target(&mut self, volts: f32) {
self.fbv_target = volts;
board::set_fbv_pwm((volts/board::FBV_PWM_GAIN) as u16);
}
pub fn emission_ready(&self) -> bool {
false
}
pub fn bias_ready(&self) -> bool {
match self.last_fbv {
None => false,
Some(last_fbv) => (self.fbv_target - last_fbv).abs() < 1.0
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}
}
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pub fn ready(&self) -> bool {
self.emission_ready() & self.bias_ready()
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}
}