Move all floats to doubles

The code was developed initially around a pid loop implemented using
floats.  Therefore, the code was converting back and forth between
double for sensor values as inputs and outputs from this PID loop.

Change-Id: I2d2919e1165103040729c9f16bb84fde3dd6b81b
Signed-off-by: Patrick Venture <venture@google.com>

4 files changed, 37 insertions, 37 deletions

diff --git a/pid/ec/pid.cpp b/pid/ec/pid.cpp
index c2236c2..1ded7ac 100644
--- a/pid/ec/pid.cpp
+++ b/pid/ec/pid.cpp
@@ -23,7 +23,7 @@ namespace ec
  *  clamp
  *
  */
-static float clamp(float x, float min, float max)
+static double clamp(double x, double min, double max)
 {
     if (x < min)
     {
@@ -40,15 +40,15 @@ static float clamp(float x, float min, float max)
  *  pid code
  *  Note: Codes assumes the ts field is non-zero
  */
-float pid(pid_info_t* pidinfoptr, float input, float setpoint)
+double pid(pid_info_t* pidinfoptr, double input, double setpoint)
 {
-    float error;
+    double error;
 
-    float p_term;
-    float i_term = 0.0f;
-    float ff_term = 0.0f;
+    double p_term;
+    double i_term = 0.0f;
+    double ff_term = 0.0f;
 
-    float output;
+    double output;
 
     // calculate P, I, D, FF
 
@@ -79,7 +79,7 @@ float pid(pid_info_t* pidinfoptr, float input, float setpoint)
         if (pidinfoptr->slew_neg != 0.0f)
         {
             // Don't decrease too fast
-            float min_out =
+            double min_out =
                 pidinfoptr->last_output + pidinfoptr->slew_neg * pidinfoptr->ts;
             if (output < min_out)
             {
@@ -89,7 +89,7 @@ float pid(pid_info_t* pidinfoptr, float input, float setpoint)
         if (pidinfoptr->slew_pos != 0.0f)
         {
             // Don't increase too fast
-            float max_out =
+            double max_out =
                 pidinfoptr->last_output + pidinfoptr->slew_pos * pidinfoptr->ts;
             if (output > max_out)
             {
diff --git a/pid/ec/pid.hpp b/pid/ec/pid.hpp
index 6b1030a..779ced5 100644
--- a/pid/ec/pid.hpp
+++ b/pid/ec/pid.hpp
@@ -7,8 +7,8 @@ namespace ec
 
 typedef struct
 {
-    float min;
-    float max;
+    double min;
+    double max;
 } limits_t;
 
 /* Note: If you update these structs you need to update the copy code in
@@ -18,35 +18,35 @@ typedef struct
 {
     bool initialized; // has pid been initialized
 
-    float ts;          // sample time in seconds
-    float integral;    // intergal of error
-    float last_output; // value of last output
+    double ts;          // sample time in seconds
+    double integral;    // intergal of error
+    double last_output; // value of last output
 
-    float p_c;     // coeff for P
-    float i_c;     // coeff for I
-    float ff_off;  // offset coeff for feed-forward term
-    float ff_gain; // gain for feed-forward term
+    double p_c;     // coeff for P
+    double i_c;     // coeff for I
+    double ff_off;  // offset coeff for feed-forward term
+    double ff_gain; // gain for feed-forward term
 
     limits_t i_lim;   // clamp of integral
     limits_t out_lim; // clamp of output
-    float slew_neg;
-    float slew_pos;
+    double slew_neg;
+    double slew_pos;
 } pid_info_t;
 
-float pid(pid_info_t* pidinfoptr, float input, float setpoint);
+double pid(pid_info_t* pidinfoptr, double input, double setpoint);
 
 /* Condensed version for use by the configuration. */
 struct pidinfo
 {
-    float ts;             // sample time in seconds
-    float p_c;            // coeff for P
-    float i_c;            // coeff for I
-    float ff_off;         // offset coeff for feed-forward term
-    float ff_gain;        // gain for feed-forward term
+    double ts;            // sample time in seconds
+    double p_c;           // coeff for P
+    double i_c;           // coeff for I
+    double ff_off;        // offset coeff for feed-forward term
+    double ff_gain;       // gain for feed-forward term
     ec::limits_t i_lim;   // clamp of integral
     ec::limits_t out_lim; // clamp of output
-    float slew_neg;
-    float slew_pos;
+    double slew_neg;
+    double slew_pos;
 };
 
 } // namespace ec
diff --git a/pid/ec/stepwise.cpp b/pid/ec/stepwise.cpp
index 4a71532..0a5c0b0 100644
--- a/pid/ec/stepwise.cpp
+++ b/pid/ec/stepwise.cpp
@@ -22,10 +22,10 @@
 
 namespace ec
 {
-float stepwise(const ec::StepwiseInfo& info, float input)
+double stepwise(const ec::StepwiseInfo& info, double input)
 {
-    float value = info.output[0]; // if we are below the lowest
-                                  // point, we set the lowest value
+    double value = info.output[0]; // if we are below the lowest
+                                   // point, we set the lowest value
 
     for (size_t ii = 1; ii < ec::maxStepwisePoints; ii++)
     {
diff --git a/pid/ec/stepwise.hpp b/pid/ec/stepwise.hpp
index 4034b47..bc7c204 100644
--- a/pid/ec/stepwise.hpp
+++ b/pid/ec/stepwise.hpp
@@ -26,13 +26,13 @@ constexpr size_t maxStepwisePoints = 20;
 
 struct StepwiseInfo
 {
-    float ts; // sample time in seconds
-    float reading[maxStepwisePoints];
-    float output[maxStepwisePoints];
-    float positiveHysteresis;
-    float negativeHysteresis;
+    double ts; // sample time in seconds
+    double reading[maxStepwisePoints];
+    double output[maxStepwisePoints];
+    double positiveHysteresis;
+    double negativeHysteresis;
 };
 
-float stepwise(const ec::StepwiseInfo& info, float value);
+double stepwise(const ec::StepwiseInfo& info, double value);
 
 } // namespace ec
\ No newline at end of file