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OOP all the way, maybe too much OOP? :)

This commit is contained in:
rusefi 2019-09-11 20:23:25 -04:00
parent 5ac8545060
commit 7395bb44e7
2 changed files with 10 additions and 5 deletions
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12
firmware/util/math/pid.cpp
View File

@ -58,7 +58,7 @@ float Pid::getUnclampedOutput(float target, float input, float dTime) {
previousError = error; previousError = error;
return pTerm + iTerm + dTerm + parameters->offset; return pTerm + iTerm + dTerm + getOffset();
} }
/** /**
@ -69,8 +69,8 @@ float Pid::getOutput(float target, float input, float dTime) {
if (output > parameters->maxValue) { if (output > parameters->maxValue) {
output = parameters->maxValue; output = parameters->maxValue;
} else if (output < parameters->minValue) { } else if (output < getMinValue()) {
output = parameters->minValue; output = getMinValue();
} }
this->output = output; this->output = output;
return output; return output;
@ -114,6 +114,10 @@ float Pid::getOffset(void) const {
return parameters->offset; return parameters->offset;
} }
float Pid::getMinValue(void) const {
return parameters->minValue;
}
void Pid::setErrorAmplification(float coef) { void Pid::setErrorAmplification(float coef) {
errorAmplificationCoef = coef; errorAmplificationCoef = coef;
} }
@ -152,7 +156,7 @@ void Pid::sleep() {
void Pid::showPidStatus(Logging *logging, const char*msg) { void Pid::showPidStatus(Logging *logging, const char*msg) {
scheduleMsg(logging, "%s settings: offset=%d P=%.5f I=%.5f D=%.5f period=%dms", scheduleMsg(logging, "%s settings: offset=%d P=%.5f I=%.5f D=%.5f period=%dms",
msg, msg,
parameters->offset, getOffset(),
parameters->pFactor, parameters->pFactor,
parameters->iFactor, parameters->iFactor,
parameters->dFactor, parameters->dFactor,

3
firmware/util/math/pid.h
View File

@ -53,7 +53,8 @@ public:
float getP(void) const; float getP(void) const;
float getI(void) const; float getI(void) const;
float getD(void) const; float getD(void) const;
float getOffset(void) const; virtual float getOffset(void) const;
virtual float getMinValue(void) const;
float getIntegration(void) const; float getIntegration(void) const;
float getPrevError(void) const; float getPrevError(void) const;
void setErrorAmplification(float coef); void setErrorAmplification(float coef);