MorrisLecar::MorrisLecar(const int&_No,bool _Is1Class,bool _IsResting):No(_No){
if(_Is1Class){
set_class1();
if(_IsResting) SetI(39.7);//=39.7;//just above Bifurcation point
else SetI(42.0);//I=42.0;//Never happen
}
else{
set_class2();
if(_IsResting) SetI(88.1);//=88.1;//88.1;
else SetI(95.0);//=95.0;//88.1;//just above Bifurcation point
}
}
/**
* Sets control values for closed loop control.
*
* @param p Proportional constant.
* @param i Integration constant.
* @param d Differential constant.
* @param f Feedforward constant.
*/
void CANTalon::SetPID(double p, double i, double d, double f)
{
SetP(p);
SetI(i);
SetD(d);
SetF(f);
}
SRXSpeed::SRXSpeed(int id, double Pvalue, double Ivalue, double Dvalue, int a):CANTalon(id)
{
SetControlMode(CANTalon::kSpeed);
SetFeedbackDevice(CANTalon::QuadEncoder);
SetP(Pvalue);
SetI(Ivalue);
SetD(Dvalue);
EnableControl();
maxTicks=a;
}
JohanCity::JohanCity(int gridsize,float edgelen) {
// Resize grid
Resize(gridsize,edgelen);
// Misc.
checkid = 0;
timingreport[0] = 0;
clock = new Clock(false);
// Set default user values
SetPopulation(0);
SetMoney(50000);
SetR(50); // beginpop
SetC(10); // 1 kantoortje?
SetI(70);
}
SRXPosition::SRXPosition(int id, double p, double i, double d, bool invert):CANTalon(id) {
SetControlMode(CANTalon::kPosition);
SetP(p);
SetI(i);
SetD(d);
SetFeedbackDevice(CANTalon::QuadEncoder);
invertMotor=invert;
SetInverted(invert);
if (invert)
{
ConfigFwdLimitSwitchNormallyOpen(false);
}
else
{
ConfigRevLimitSwitchNormallyOpen(false);
}
SetPosition(0);
target=0;
EnableControl();
}
MorrisLecar::MorrisLecar():No(0){
set_class1();
SetI(39.7);//=39.7;
}
void SRXSpeed::ChangePID(float P, float I, float D)
{
SetP(P);
SetI(I);
SetD(D);
}
void JohanCity::AddI(int value) {
SetI(idemand + value);
}
