pid.hpp

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/*
This Source Code Form is subject to the terms of the Mozilla Public
License, v. 2.0. If a copy of the MPL was not distributed with this
file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
 
#pragma once
 
#include "LightLib/api.h"
#include "LightLib/util/util.hpp"
 
namespace light {
class PID {
 public:
  PID();
 
  PID(double p, double i = 0, double d = 0, double start_i = 0, std::string name = "");
 
  void constants_set(double p, double i = 0, double d = 0, double p_start_i = 0);
 
  struct Constants {
    double kp;       
    double ki;       
    double kd;       
    double start_i;  
  };
 
  struct exit_condition_ {
    int small_exit_time = 0;     
    double small_error = 0;      
    int big_exit_time = 0;       
    double big_error = 0;        
    int velocity_exit_time = 0;  
    int mA_timeout = 0;          
  };
 
  void exit_condition_set(int p_small_exit_time, double p_small_error, int p_big_exit_time = 0, double p_big_error = 0, int p_velocity_exit_time = 0, int p_mA_timeout = 0);
 
  void target_set(double input);
 
  double compute(double current);
 
  double compute_error(double err, double current);
 
  double target_get();
 
  Constants constants_get();
 
  bool constants_set_check();
 
  void variables_reset();
 
  Constants constants;
 
  exit_condition_ exit;
 
  void velocity_sensor_secondary_set(double secondary_sensor);
 
  double velocity_sensor_secondary_get();
 
  void velocity_sensor_secondary_toggle_set(bool toggle);
 
  bool velocity_sensor_secondary_toggle_get();
 
  void velocity_sensor_main_exit_set(double zero);
 
  double velocity_sensor_main_exit_get();
 
  void velocity_sensor_secondary_exit_set(double zero);
 
  double velocity_sensor_secondary_exit_get();
 
  light::exit_output exit_condition(bool print = false);
 
  light::exit_output exit_condition(pros::Motor sensor, bool print = false);
 
  light::exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
 
  light::exit_output exit_condition(pros::MotorGroup sensor, bool print = false);
 
  void name_set(std::string name);
 
  std::string name_get();
 
  void i_reset_toggle(bool toggle);
 
  bool i_reset_get();
 
  void timers_reset();
 
  double output = 0.0;        
  double cur = 0.0;           
  double error = 0.0;         
  double target = 0.0;        
  double prev_error = 0.0;    
  double prev_current = 0.0;  
  double integral = 0.0;      
  double derivative = 0.0;    
  long time = 0;              
  long prev_time = 0;         
 private:
  double velocity_zero_main = 0.05;
  double velocity_zero_secondary = 0.075;
  int i = 0, j = 0, k = 0, l = 0, m = 0;
  bool is_mA = false;
  double second_sensor = 0.0;
 
  std::string name;
  bool name_active = false;
  void exit_condition_print(light::exit_output exit_type);
  bool reset_i_sgn = true;
  double raw_compute();
  bool use_second_sensor = false;
};
};  // namespace light