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/**
* Copyright 2017 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "util.hpp"
#include "ec/pid.hpp"
#include <cstring>
#include <iostream>
void initializePIDStruct(ec::pid_info_t* info, const ec::pidinfo& initial)
{
std::memset(info, 0x00, sizeof(ec::pid_info_t));
info->ts = initial.ts;
info->proportionalCoeff = initial.proportionalCoeff;
info->integralCoeff = initial.integralCoeff;
info->feedFwdOffset = initial.feedFwdOffset;
info->feedFwdGain = initial.feedFwdGain;
info->integralLimit.min = initial.integralLimit.min;
info->integralLimit.max = initial.integralLimit.max;
info->outLim.min = initial.outLim.min;
info->outLim.max = initial.outLim.max;
info->slewNeg = initial.slewNeg;
info->slewPos = initial.slewPos;
info->negativeHysteresis = initial.negativeHysteresis;
info->positiveHysteresis = initial.positiveHysteresis;
}
void dumpPIDStruct(ec::pid_info_t* info)
{
std::cerr << " ts: " << info->ts
<< " proportionalCoeff: " << info->proportionalCoeff
<< " integralCoeff: " << info->integralCoeff
<< " feedFwdOffset: " << info->feedFwdOffset
<< " feedFwdGain: " << info->feedFwdGain
<< " integralLimit.min: " << info->integralLimit.min
<< " integralLimit.max: " << info->integralLimit.max
<< " outLim.min: " << info->outLim.min
<< " outLim.max: " << info->outLim.max
<< " slewNeg: " << info->slewNeg << " slewPos: " << info->slewPos
<< " last_output: " << info->lastOutput
<< " integral: " << info->integral << std::endl;
return;
}
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