/*Update the PID output, called in some loop where newPoint is updated */
void update(){
/*
Update timer
*/
timer+=millis();
/*
Update error, difference between setpoint and newpoint.
*/
error = (*setPoint - *newPoint);
/*
If dt time has passed, apply PID
*/
if(timer>= dt){
/*
The value of the out is updated
*/
*output = proportional() + integrator() + derivative();
/*
timer is decreased by dt, timer MIGHT be 1.5 dt
so we can't start counting at 0 again
*/
timer -= dt;
/*
Constrain the PID output
*/
if(*output>PID_MAX) *output = PID_MAX;
if(*output<PID_MIN) *output = PID_MIN;
}
prevPoint = *newPoint;
prevError = error;
}
QWidget *float2_param_t::do_create_widgets()
{
QWidget *top = new QWidget();
QrLabel *label = new QrLabel( top);
input0_ = new QrDoubleSpinBox( top);
input1_ = new QrDoubleSpinBox( top);
QSize s = input0_->sizeHint();
label->move( 0, 0);
label->resize( ui::inspector_t::Instance().left_margin() - 5, s.height());
label->setAlignment( Qt::AlignRight | Qt::AlignVCenter);
label->setText( name().c_str());
int xpos = ui::inspector_t::Instance().left_margin();
float low = absolute_min();
float high = absolute_max();
Imath::V2f v = relative_to_absolute( get_value<Imath::V2f>( *this));
input0_->move( xpos, 0);
input0_->resize( s.width(), s.height());
input0_->setRange( low, high);
input0_->setStep( step());
input0_->setValue( v.x);
input0_->setEnabled( enabled());
connect( input0_, SIGNAL( calculatorValueChanged( double)), this, SLOT( value_changed( double)));
connect( input0_, SIGNAL( spinBoxPressed()), this, SLOT( spinbox_pressed()));
connect( input0_, SIGNAL( spinBoxMoved( double)), this, SLOT( spinbox_moved( double)));
connect( input0_, SIGNAL( spinBoxReleased()), this, SLOT( spinbox_released()));
xpos += ( s.width() + 5);
input1_->move( xpos, 0);
input1_->resize( s.width(), s.height());
input1_->setRange( low, high);
input1_->setStep( step());
input1_->setValue( v.y);
input1_->setEnabled( enabled());
connect( input1_, SIGNAL( calculatorValueChanged( double)), this, SLOT( value_changed( double)));
connect( input1_, SIGNAL( spinBoxPressed()), this, SLOT( spinbox_pressed()));
connect( input1_, SIGNAL( spinBoxMoved( double)), this, SLOT( spinbox_moved( double)));
connect( input1_, SIGNAL( spinBoxReleased()), this, SLOT( spinbox_released()));
xpos += ( s.width() + 2);
if( proportional())
{
create_proportional_button( top);
if( prop_button_)
prop_button_->move( xpos, 0);
}
top->setMinimumSize( ui::inspector_t::Instance().width(), s.height());
top->setMaximumSize( ui::inspector_t::Instance().width(), s.height());
top->setSizePolicy( QSizePolicy::Fixed, QSizePolicy::Fixed);
return top;
}
T PID<T>::calculate(T val)
{
T v = val - (feedback + setpoint);
T p,i,d;
#ifdef P_CONTROL
p = proportional(v);
#endif
#ifdef I_CONTROL
i = integral(v);
#endif
#ifdef D_CONTROL
d = derivative(v);
#endif
return p + i + d;
}
/*
* Parse through the fontlist data and set up the three scroll lists. The fix
* parameter can be used to exclude a list from any changes. This is used for
* updates after selections caused by the users actions.
*/
static void
fill_lists(enum ListSpecifier fix, SharedFontSelData *data)
{
char *list[NONE][MAX_ENTRIES_IN_LIST];
int count[NONE];
char buf[TEMP_BUF_SIZE];
XmString items[MAX_ENTRIES_IN_LIST];
int i;
int idx;
for (idx = (int)ENCODING; idx < (int)NONE; ++idx)
count[idx] = 0;
/* First we insert the wild char into every single list. */
if (fix != ENCODING)
add_to_list(list[ENCODING], wild, &count[ENCODING]);
if (fix != NAME)
add_to_list(list[NAME], wild, &count[NAME]);
if (fix != STYLE)
add_to_list(list[STYLE], wild, &count[STYLE]);
if (fix != SIZE)
add_to_list(list[SIZE], wild, &count[SIZE]);
for (i = 0; i < data->num && i < MAX_ENTRIES_IN_LIST; i++)
{
if (proportional(fn(data, i)))
continue;
if (fix != ENCODING
&& match(data, NAME, i)
&& match(data, STYLE, i)
&& match(data, SIZE, i))
{
encoding_part(fn(data, i), buf);
add_to_list(list[ENCODING], buf, &count[ENCODING]);
}
if (fix != NAME
&& match(data, ENCODING, i)
&& match(data, STYLE, i)
&& match(data, SIZE, i))
{
name_part(fn(data, i), buf);
add_to_list(list[NAME], buf, &count[NAME]);
}
if (fix != STYLE
&& match(data, ENCODING, i)
&& match(data, NAME, i)
&& match(data, SIZE, i))
{
style_part(fn(data, i), buf);
add_to_list(list[STYLE], buf, &count[STYLE]);
}
if (fix != SIZE
&& match(data, ENCODING, i)
&& match(data, NAME, i)
&& match(data, STYLE, i))
{
size_part(fn(data, i), buf, data->in_pixels);
add_to_list(list[SIZE], buf, &count[SIZE]);
}
}
/*
* And now do the preselection in all lists where there was one:
*/
if (fix != ENCODING)
{
Cardinal n_items;
WidgetList children;
Widget selected_button = 0;
/* Get and update the current button list. */
XtVaGetValues(data->encoding_pulldown,
XmNchildren, &children,
XmNnumChildren, &n_items,
NULL);
for (i = 0; i < count[ENCODING]; ++i)
{
Widget button;
items[i] = XmStringCreateLocalized(list[ENCODING][i]);
if (i < (int)n_items)
{
/* recycle old button */
XtVaSetValues(children[i],
XmNlabelString, items[i],
XmNuserData, i,
NULL);
button = children[i];
}
else
{
/* create a new button */
button = XtVaCreateManagedWidget("button",
xmPushButtonGadgetClass,
data->encoding_pulldown,
XmNlabelString, items[i],
XmNuserData, i,
NULL);
XtAddCallback(button, XmNactivateCallback,
(XtCallbackProc) encoding_callback, (XtPointer) data);
XtManageChild(button);
}
if (data->sel[ENCODING])
{
if (!strcmp(data->sel[ENCODING], list[ENCODING][i]))
selected_button = button;
}
XtFree(list[ENCODING][i]);
}
/* Destroy all the outstanding menu items.
*/
for (i = count[ENCODING]; i < (int)n_items; ++i)
{
XtUnmanageChild(children[i]);
XtDestroyWidget(children[i]);
}
/* Preserve the current selection visually.
*/
if (selected_button)
{
XtVaSetValues(data->encoding_menu,
XmNmenuHistory, selected_button,
NULL);
}
for (i = 0; i < count[ENCODING]; ++i)
XmStringFree(items[i]);
}
/*
* Now loop trough the remaining lists and set them up.
*/
for (idx = (int)NAME; idx < (int)NONE; ++idx)
{
Widget w;
if (fix == (enum ListSpecifier)idx)
continue;
switch ((enum ListSpecifier)idx)
{
case NAME:
w = data->list[NAME];
break;
case STYLE:
w = data->list[STYLE];
break;
case SIZE:
w = data->list[SIZE];
break;
default:
w = (Widget)0; /* for lint */
}
for (i = 0; i < count[idx]; ++i)
{
items[i] = XmStringCreateLocalized(list[idx][i]);
XtFree(list[idx][i]);
}
XmListDeleteAllItems(w);
XmListAddItems(w, items, count[idx], 1);
if (data->sel[idx])
{
XmStringFree(items[0]);
items[0] = XmStringCreateLocalized(data->sel[idx]);
XmListSelectItem(w, items[0], False);
XmListSetBottomItem(w, items[0]);
}
for (i = 0; i < count[idx]; ++i)
XmStringFree(items[i]);
}
}
double PID::getPID(double error){
double value = proportional(error) + integral(error) + derivative(error);
return trim(value);
}
double PID::getP(double error){
return trim(proportional(error));
}
