cpppid

A composable library based on templates to implement control loops in C++17.

Description

By composing basic control functions, for instance:

• Proportional
• Integral
• Derivative

With a suitable composer, for instance:

• Adder

You can obtain complex controllers, in particular, the classic PID controller as something like this:

cpppid::composers::adder {
  cpppid::controllers::proportional,
  cpppid::controllers::integral,
  cpppid::controllers::derivatite 
}

Build

The Makefile wraps the commands to download dependencies (Conan), generate the build configuration, build, run the unit tests, and clear the build folder.

• Compile (currently, it also compiles the unit tests):

make

It assumes that the default profile (profiles/x86_64) applies to your build, if not, then you can specify your profile by appending PROFILE=.

• Run the unit tests:

make test

• Clear the build folder:

make clean

Run tests inside a Docker container

Optionally, it's possible to run the tests for cpppid inside a Docker container by running:

make env-x86_64 # create docker image for x86_64
make env-x86_64-run # logs in the container
make test

Or:

make env-x86_64-test # the same as: make env-x86_64 env-x86_64-run make test

Or you can build and test for armv7 by simply changing the mentions to x86_64 to armv7 in the command above.