ControlBoardPid.cpp

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <yarp/dev/ControlBoardInterfaces.h>
 
using namespace yarp::dev;
 
Pid::Pid(double p, double d, double i,
         double intm, double sc, double omax):
    kp(p),
    kd(d),
    ki(i),
    max_int(intm),
    scale(sc),
    max_output(omax),
    offset(0),
    stiction_up_val(0),
    stiction_down_val(0),
    kff(0)
{}
 
Pid::Pid(double p, double d, double i,
         double intm, double sc, double omax, double st_up, double st_down, double ff) :
    kp(p),
    kd(d),
    ki(i),
    max_int(intm),
    scale(sc),
    max_output(omax),
    offset(0),
    stiction_up_val(st_up),
    stiction_down_val(st_down),
    kff(ff)
{}
 
Pid::~Pid() = default;
 
Pid::Pid()
{
    clear();
}
 
void Pid::clear()
{
    kp = 0;
    kd = 0;
    ki = 0;
    scale = 0;
    max_int = 0;
    max_output = 0;
    offset = 0;
    stiction_up_val = 0;
    stiction_down_val = 0;
    kff = 0;
}
 
void Pid::setKp(double p)
{
    kp=p;
}
 
void Pid::setKi(double i)
{
    ki=i;
}
 
void Pid::setKd(double d)
{
    kd=d;
}
 
void Pid::setMaxInt(double m)
{
    max_int=m;
}
 
void Pid::setScale(double sc)
{
    scale=sc;
}
 
void Pid::setMaxOut(double m)
{
    max_output=m;
}
 
void Pid::setOffset(double o)
{
    offset=o;
}
 
void Pid::setStictionValues(double up_value, double down_value)
{
    stiction_up_val=up_value;
    stiction_down_val=down_value;
}
 
void Pid::setKff(double ff)
{
    kff=ff;
}
 
bool Pid::operator==(const yarp::dev::Pid &p) const
{
 
    if(kp != p.kp)
        return false;
 
    if(ki != p.ki)
        return false;
 
    if(kd != p.kd)
        return false;
 
    if(max_output != p.max_output)
        return false;
 
    if(max_int != p.max_int)
        return false;
 
    if(kff != p.kff)
        return false;
 
    if(offset != p.offset)
        return false;
 
    if(scale != p.scale)
        return false;
 
    if(stiction_down_val !=  p.stiction_down_val)
        return false;
 
    if(stiction_up_val != p.stiction_up_val)
        return false;
 
    return true;
 
}