65 lines
2.2 KiB
C
65 lines
2.2 KiB
C
/*
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* This file is part of the moving_model project.
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* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <strings.h>
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#include <usefull_macros.h>
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#include "PID.h"
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PIDController_t *pid_create(PIDpar_t *gain, size_t Iarrsz){
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if(!gain || Iarrsz < 3) return NULL;
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PIDController_t *pid = (PIDController_t*)calloc(1, sizeof(PIDController_t));
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pid->gain = *gain;
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pid->pidIarrSize = Iarrsz;
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pid->pidIarray = (double*)calloc(Iarrsz, sizeof(double));
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return pid;
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}
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void pid_clear(PIDController_t *pid){
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if(!pid) return;
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DBG("CLEAR PID PARAMETERS");
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bzero(pid->pidIarray, sizeof(double) * pid->pidIarrSize);
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pid->integral = 0.;
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pid->prev_error = 0.;
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pid->curIidx = 0;
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}
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void pid_delete(PIDController_t **pid){
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if(!pid || !*pid) return;
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if((*pid)->pidIarray) free((*pid)->pidIarray);
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free(*pid);
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*pid = NULL;
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}
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double pid_calculate(PIDController_t *pid, double error, double dt){
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// calculate flowing integral
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double oldi = pid->pidIarray[pid->curIidx], newi = error * dt;
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DBG("oldi/new: %g, %g", oldi, newi);
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pid->pidIarray[pid->curIidx++] = newi;
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if(pid->curIidx >= pid->pidIarrSize) pid->curIidx = 0;
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pid->integral += newi - oldi;
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double derivative = (error - pid->prev_error) / dt;
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pid->prev_error = error;
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double sum = pid->gain.P * error + pid->gain.I * pid->integral + pid->gain.D * derivative;
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DBG("P=%g, I=%g, D=%g; sum=%g", pid->gain.P * error, pid->gain.I * pid->integral, pid->gain.D * derivative, sum);
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return sum;
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}
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