int main()
{
// Handle CTLR + C
struct sigaction sigIntHandler;
sigIntHandler.sa_handler = handleSignal;
sigemptyset(&sigIntHandler.sa_mask);
sigaction(SIGINT, &sigIntHandler, NULL);
quit = false;
auto lead = new car("lead");
auto follower = new car("follower");
auto controller = new pidController();
follower->setSpeed(0);
lead->setSpeed(0);
controller->setSetPoint(lead->getSpeed());
controller->setKi(1);
controller->setKd(1);
controller->setKp(.2);
auto pvThread = std::thread(runPv, controller);
auto pidThread = std::thread(runPid, controller);
auto simThread = std::thread(runSim, lead, follower, controller);
std::random_device rd; // only used once to initialise (seed) engine
std::mt19937 rng(rd()); // random-number engine used (Mersenne-Twister in this case)
std::uniform_int_distribution<int> uni(0,4); // guaranteed unbiased
while (!quit)
{
int randomSpeed = uni(rng);
lead->setSpeed(randomSpeed);
controller->setSetPoint(lead->getSpeed());
sleepSim(2);
}
pvThread.join();
simThread.join();
pidThread.join();
delete lead;
delete follower;
delete controller;
return 0;
}
void PID::setWeights(const float &Kp, const float &Ki, const float &Kd) {
setKp(Kp);
setKi(Ki);
setKd(Kd);
}
