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pid: change signedness from heating to cooling

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Astro 2020-10-11 23:12:18 +02:00
parent 6ba1459a3c
commit d574ccb5f4
1 changed files with 5 additions and 5 deletions
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10
src/pid.rs
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@ -47,7 +47,7 @@ impl Controller {
pub fn update(&mut self, input: f64) -> f64 { pub fn update(&mut self, input: f64) -> f64 {
// error // error
let error = self.target - input; let error = input - self.target;
// partial // partial
let p = f64::from(self.parameters.kp) * error; let p = f64::from(self.parameters.kp) * error;
@ -65,7 +65,7 @@ impl Controller {
// derivative // derivative
let d = match self.last_input { let d = match self.last_input {
None => 0.0, None => 0.0,
Some(last_input) => f64::from(self.parameters.kd) * (last_input - input), Some(last_input) => f64::from(self.parameters.kd) * (input - last_input),
}; };
self.last_input = Some(input); self.last_input = Some(input);
@ -129,7 +129,7 @@ mod test {
#[test] #[test]
fn test_controller() { fn test_controller() {
const DEFAULT: f64 = 0.0; const DEFAULT: f64 = 0.0;
const TARGET: f64 = 1234.56; const TARGET: f64 = -1234.56;
const ERROR: f64 = 0.01; const ERROR: f64 = 0.01;
const DELAY: usize = 10; const DELAY: usize = 10;
@ -144,8 +144,8 @@ mod test {
let next_t = (t + 1) % DELAY; let next_t = (t + 1) % DELAY;
// Feed the oldest temperature // Feed the oldest temperature
let output = pid.update(values[next_t]); let output = pid.update(values[next_t]);
// Overwrite oldest with previous temperature + output // Overwrite oldest with previous temperature - output
values[next_t] = values[t] + output; values[next_t] = values[t] - output;
t = next_t; t = next_t;
total_t += 1; total_t += 1;
} }