60 lines
1.6 KiB
C++
60 lines
1.6 KiB
C++
/* -*- c++ -*- */
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/*
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* Copyright 2019 Thomas Kolb.
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*
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* This is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3, or (at your option)
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* any later version.
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*
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* This software is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software; see the file COPYING. If not, write to
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* the Free Software Foundation, Inc., 51 Franklin Street,
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* Boston, MA 02110-1301, USA.
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*/
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#ifndef INCLUDED_HAMNET70_PID_CONTROLLER_IMPL_H
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#define INCLUDED_HAMNET70_PID_CONTROLLER_IMPL_H
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#include <hamnet70/pid_controller.h>
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namespace gr {
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namespace hamnet70 {
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class pid_controller_impl : public pid_controller
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{
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private:
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float d_kp;
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float d_ki;
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float d_kd;
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float d_lastInput;
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float d_iVal;
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float d_postGain;
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size_t d_interval;
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size_t d_nextSampleIdx;
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public:
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pid_controller_impl(size_t interval, float p, float i, float d, float post_gain);
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~pid_controller_impl();
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// Where all the action really happens
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int general_work(int noutput_items,
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gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items,
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gr_vector_void_star &output_items);
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};
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} // namespace hamnet70
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} // namespace gr
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#endif /* INCLUDED_HAMNET70_PID_CONTROLLER_IMPL_H */
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