/
KosPIDLoop.cs
173 lines (146 loc) · 4.56 KB
/
KosPIDLoop.cs
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extern alias JetBrainsAnnotations;
using System;
using JetBrainsAnnotations::JetBrains.Annotations;
namespace MuMech.AttitudeControllers
{
public class KosPIDLoop
{
public double Kp { get; set; }
private double _ki;
private double _loopKi;
public double Ki
{
get => _ki;
set
{
_ki = value;
_loopKi = value;
}
}
[UsedImplicitly]
public double Kd { get; set; }
[UsedImplicitly]
public double Input { get; set; }
[UsedImplicitly]
public double Setpoint { get; set; }
[UsedImplicitly]
public double Error { get; set; }
[UsedImplicitly]
public double Output { get; set; }
[UsedImplicitly]
public double MinOutput { get; set; }
[UsedImplicitly]
public double MaxOutput { get; set; }
[UsedImplicitly]
public double ErrorSum { get; set; }
[UsedImplicitly]
public double PTerm { get; set; }
[UsedImplicitly]
public double ITerm { get; set; }
[UsedImplicitly]
public double DTerm { get; set; }
[UsedImplicitly]
public bool ExtraUnwind { get; set; }
[UsedImplicitly]
public double ChangeRate { get; set; }
[UsedImplicitly]
public bool UnWinding { get; set; }
public KosPIDLoop(double maxoutput = double.MaxValue, double minoutput = double.MinValue, bool extraUnwind = false)
: this(1.0, 0, 0, maxoutput, minoutput, extraUnwind)
{
}
public KosPIDLoop(double kp, double ki, double kd, double maxoutput = double.MaxValue, double minoutput = double.MinValue,
bool extraUnwind = false)
{
Kp = kp;
Ki = ki;
Kd = kd;
Input = 0;
Setpoint = 0;
Error = 0;
Output = 0;
MaxOutput = maxoutput;
MinOutput = minoutput;
ErrorSum = 0;
PTerm = 0;
ITerm = 0;
DTerm = 0;
ExtraUnwind = extraUnwind;
}
[UsedImplicitly]
public double Update(double input, double setpoint, double minOutput, double maxOutput)
{
MaxOutput = maxOutput;
MinOutput = minOutput;
Setpoint = setpoint;
return Update(input);
}
public double Update(double input, double setpoint, double maxOutput) => Update(input, setpoint, -maxOutput, maxOutput);
[UsedImplicitly]
public double Update(double input)
{
double error = Setpoint - input;
double pTerm = error * Kp;
double iTerm = 0;
double dTerm = 0;
double dt = TimeWarp.fixedDeltaTime;
if (_loopKi != 0)
{
if (ExtraUnwind)
{
if (Math.Sign(error) != Math.Sign(ErrorSum))
{
if (!UnWinding)
{
_loopKi *= 2;
UnWinding = true;
}
}
else if (UnWinding)
{
_loopKi = _ki;
UnWinding = false;
}
}
iTerm = ITerm + error * dt * _loopKi;
}
ChangeRate = (input - Input) / dt;
if (Kd != 0)
{
dTerm = -ChangeRate * Kd;
}
Output = pTerm + iTerm + dTerm;
if (Output > MaxOutput)
{
Output = MaxOutput;
if (_loopKi != 0)
{
iTerm = Output - Math.Min(pTerm + dTerm, MaxOutput);
}
}
if (Output < MinOutput)
{
Output = MinOutput;
if (_loopKi != 0)
{
iTerm = Output - Math.Max(pTerm + dTerm, MinOutput);
}
}
Input = input;
Error = error;
PTerm = pTerm;
ITerm = iTerm;
DTerm = dTerm;
if (_loopKi != 0)
ErrorSum = iTerm / _loopKi;
else
ErrorSum = 0;
return Output;
}
public void ResetI()
{
ErrorSum = 0;
ITerm = 0;
}
}
}