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3c6318b33a
- 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
62 lines
1.8 KiB
Go
62 lines
1.8 KiB
Go
/*
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* MIT License
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*
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* Copyright (c) 2024 Nicolas JUHEL
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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*/
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package pidcontroller
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// PID (Proportional Integral Derivative controller)
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type pid struct {
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kp float64 // rate proportional
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ki float64 // rate integral
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kd float64 // rate derivative
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prevError float64
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integral float64
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}
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func (p *pid) calc(end, actual float64) float64 {
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pidError := end - actual
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p.integral += pidError
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derive := pidError - p.prevError
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output := p.kp*pidError + p.ki*p.integral + p.kd*derive
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p.prevError = pidError
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return output
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}
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func (p *pid) Range(min, max float64) []float64 {
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var res = make([]float64, 0)
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for {
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min += p.calc(max, min)
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if min > max {
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return append(res, max)
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} else {
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res = append(res, min)
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}
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}
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}
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