Package PID Controller:

- add package to calculate range of value for Progressive Integrate Derivative

Package Duration:
- add function to parse float64 to Duration
- add function to return a PID Duration range from another given duration
- add function to return a PID Duration range to another given duration

duration/encode.go

@@ -1,5 +1,4 @@
-/***********************************************************************************************************************
- *
+/*
  * MIT License
  *
  * Copyright (c) 2022 Nicolas JUHEL
@@ -22,8 +21,7 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  *
- *
- **********************************************************************************************************************/
+ */
 
 package duration
 

duration/format.go

@@ -1,5 +1,4 @@
-/***********************************************************************************************************************
- *
+/*
  * MIT License
  *
  * Copyright (c) 2022 Nicolas JUHEL
@@ -22,8 +21,7 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  *
- *
- **********************************************************************************************************************/
+ */
 
 package duration
 
@@ -65,3 +63,7 @@ func (d Duration) Days() int64 {
 
 	return int64(t)
 }
+
+func (d Duration) Float64() float64 {
+	return float64(d)
+}

duration/interface.go

@@ -28,6 +28,7 @@
 package duration
 
 import (
+	"math"
 	"time"
 )
 
@@ -60,3 +61,13 @@ func Days(i int64) Duration {
 func ParseDuration(d time.Duration) Duration {
 	return Duration(d)
 }
+
+func ParseFloat64(f float64) Duration {
+	const mx float64 = math.MaxInt64
+
+	if f > mx {
+		return Duration(math.MaxInt64)
+	} else {
+		return Duration(math.Round(f))
+	}
+}

duration/model.go

@@ -1,5 +1,4 @@
-/***********************************************************************************************************************
- *
+/*
  * MIT License
  *
  * Copyright (c) 2022 Nicolas JUHEL
@@ -22,8 +21,7 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  *
- *
- **********************************************************************************************************************/
+ */
 
 package duration
 

duration/operation.go

@@ -0,0 +1,78 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2022 Nicolas JUHEL
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ */
+
+package duration
+
+import (
+	libpid "github.com/nabbar/golib/pidcontroller"
+)
+
+var (
+	DefaultRateProportional float64 = 0.1
+	DefaultRateIntegral     float64 = 0.01
+	DefaultRateDerivative   float64 = 0.05
+)
+
+func (d Duration) RangeTo(dur Duration, rateP, rateI, rateD float64) []Duration {
+	var (
+		p = libpid.New(rateP, rateI, rateD)
+		r = make([]Duration, 0)
+	)
+
+	for _, v := range p.Range(d.Float64(), dur.Float64()) {
+		r = append(r, ParseFloat64(v))
+	}
+
+	if len(r) < 3 {
+		r = append(make([]Duration, 0), d, dur)
+	}
+
+	return r
+}
+
+func (d Duration) RangeDefTo(dur Duration) []Duration {
+	return d.RangeTo(dur, DefaultRateProportional, DefaultRateIntegral, DefaultRateDerivative)
+}
+
+func (d Duration) RangeFrom(dur Duration, rateP, rateI, rateD float64) []Duration {
+	var (
+		p = libpid.New(rateP, rateI, rateD)
+		r = make([]Duration, 0)
+	)
+
+	for _, v := range p.Range(dur.Float64(), d.Float64()) {
+		r = append(r, ParseFloat64(v))
+	}
+
+	if len(r) < 3 {
+		r = append(make([]Duration, 0), d, dur)
+	}
+
+	return r
+}
+
+func (d Duration) RangeDefFrom(dur Duration) []Duration {
+	return d.RangeFrom(dur, DefaultRateProportional, DefaultRateIntegral, DefaultRateDerivative)
+}

duration/parse.go

@@ -1,5 +1,4 @@
-/***********************************************************************************************************************
- *
+/*
  * MIT License
  *
  * Copyright (c) 2022 Nicolas JUHEL
@@ -22,8 +21,7 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  *
- *
- **********************************************************************************************************************/
+ */
 
 package duration
 

duration/truncate.go

@@ -1,5 +1,4 @@
-/***********************************************************************************************************************
- *
+/*
  * MIT License
  *
  * Copyright (c) 2022 Nicolas JUHEL
@@ -22,8 +21,7 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  *
- *
- **********************************************************************************************************************/
+ */
 
 package duration
 

pidcontroller/interface.go

@@ -0,0 +1,38 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2024 Nicolas JUHEL
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ */
+
+package pidcontroller
+
+type PID interface {
+	Range(min, max float64) []float64
+}
+
+func New(rateProportional, rateIntegral, rateDerivative float64) PID {
+	return &pid{
+		kp: rateProportional,
+		ki: rateIntegral,
+		kd: rateDerivative,
+	}
+}

pidcontroller/model.go

@@ -0,0 +1,61 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2024 Nicolas JUHEL
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ */
+
+package pidcontroller
+
+// PID (Proportional Integral Derivative controller)
+type pid struct {
+	kp float64 // rate proportional
+	ki float64 // rate integral
+	kd float64 // rate derivative
+
+	prevError float64
+	integral  float64
+}
+
+func (p *pid) calc(end, actual float64) float64 {
+	pidError := end - actual
+	p.integral += pidError
+	derive := pidError - p.prevError
+
+	output := p.kp*pidError + p.ki*p.integral + p.kd*derive
+	p.prevError = pidError
+
+	return output
+}
+
+func (p *pid) Range(min, max float64) []float64 {
+	var res = make([]float64, 0)
+
+	for {
+		min += p.calc(max, min)
+
+		if min > max {
+			return append(res, max)
+		} else {
+			res = append(res, min)
+		}
+	}
+}