From 163bb38f6858184227e7c8068f2cf7df96271394 Mon Sep 17 00:00:00 2001
From: Astro <astro@spaceboyz.net>
Date: Thu, 19 Mar 2020 22:00:22 +0100
Subject: [PATCH] simplify pid, keep last_output

---
 src/main.rs | 27 ++++++++++++++++-----------
 src/pid.rs  | 27 +++++++--------------------
 2 files changed, 23 insertions(+), 31 deletions(-)

diff --git a/src/main.rs b/src/main.rs
index 41ef773..74632bd 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -187,20 +187,25 @@ fn main() -> ! {
                                     for (channel, state) in channel_states.iter().enumerate() {
                                         let _ = writeln!(socket, "PID settings for channel {}", channel);
                                         let pid = &state.pid;
-                                        let _ = writeln!(socket, "- target={:.4}", pid.get_target());
-                                        let p = pid.get_parameters();
-                                        macro_rules! out {
+                                        let _ = writeln!(socket, "- target={:.4}", pid.target);
+                                        macro_rules! show_pid_parameter {
                                             ($p: tt) => {
-                                                let _ = writeln!(socket, "- {}={:.4}", stringify!($p), p.$p);
+                                                let _ = writeln!(
+                                                    socket, "- {}={:.4}",
+                                                    stringify!($p), pid.parameters.$p
+                                                );
                                             };
                                         }
-                                        out!(kp);
-                                        out!(ki);
-                                        out!(kd);
-                                        out!(output_min);
-                                        out!(output_max);
-                                        out!(integral_min);
-                                        out!(integral_max);
+                                        show_pid_parameter!(kp);
+                                        show_pid_parameter!(ki);
+                                        show_pid_parameter!(kd);
+                                        show_pid_parameter!(output_min);
+                                        show_pid_parameter!(output_max);
+                                        show_pid_parameter!(integral_min);
+                                        show_pid_parameter!(integral_max);
+                                        if let Some(last_output) = pid.last_output {
+                                            let _ = writeln!(socket, "- output={:.4}", last_output);
+                                        }
                                         let _ = writeln!(socket, "");
                                     }
                                 }
diff --git a/src/pid.rs b/src/pid.rs
index 04451ef..ebe92d7 100644
--- a/src/pid.rs
+++ b/src/pid.rs
@@ -25,10 +25,11 @@ impl Default for Parameters {
 
 #[derive(Clone)]
 pub struct Controller {
-    parameters: Parameters,
-    target: f64,
+    pub parameters: Parameters,
+    pub target: f64,
     integral: f64,
-    last_input: Option<f64>
+    last_input: Option<f64>,
+    pub last_output: Option<f64>,
 }
 
 impl Controller {
@@ -37,7 +38,8 @@ impl Controller {
             parameters: parameters,
             target: 0.0,
             last_input: None,
-            integral: 0.0
+            integral: 0.0,
+            last_output: None,
         }
     }
 
@@ -68,25 +70,10 @@ impl Controller {
         if output > self.parameters.output_max {
             output = self.parameters.output_max;
         }
+        self.last_output = Some(output);
         output
     }
 
-    pub fn get_target(&self) -> f64 {
-        self.target
-    }
-
-    pub fn set_target(&mut self, target: f64) {
-        self.target = target;
-    }
-
-    pub fn get_parameters(&self) -> &Parameters {
-        &self.parameters
-    }
-
-    pub fn update_parameters<F: FnOnce(&mut Parameters)>(&mut self, f: F) {
-        f(&mut self.parameters);
-    }
-
     #[allow(dead_code)]
     pub fn reset(&mut self) {
         self.integral = 0.0;