Rename PID class (#218)

Signed-off-by: Javier Balloffet <[email protected]>
Ekumen-OS · Feb 14, 2024 · efa766b · efa766b
1 parent d3b8315
commit efa766b
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Showing 5 changed files with 21 additions and 26 deletions.
diff --git a/andino_firmware/src/app.cpp b/andino_firmware/src/app.cpp
@@ -103,9 +103,9 @@ InterruptInArduino App::right_encoder_channel_b_interrupt_in_(Hw::kRightEncoderC
 Encoder App::right_encoder_(&right_encoder_channel_a_interrupt_in_,
                             &right_encoder_channel_b_interrupt_in_);
 
-PID App::left_pid_controller_(Constants::kPidKp, Constants::kPidKd, Constants::kPidKi,
+Pid App::left_pid_controller_(Constants::kPidKp, Constants::kPidKd, Constants::kPidKi,
                               Constants::kPidKo, -Constants::kPwmMax, Constants::kPwmMax);
-PID App::right_pid_controller_(Constants::kPidKp, Constants::kPidKd, Constants::kPidKi,
+Pid App::right_pid_controller_(Constants::kPidKp, Constants::kPidKd, Constants::kPidKi,
                                Constants::kPidKo, -Constants::kPwmMax, Constants::kPwmMax);
 
 unsigned long App::last_pid_computation_{0};

diff --git a/andino_firmware/src/app.h b/andino_firmware/src/app.h
@@ -108,8 +108,8 @@ class App {
   static Encoder right_encoder_;
 
   /// PID controllers (one per wheel).
-  static PID left_pid_controller_;
-  static PID right_pid_controller_;
+  static Pid left_pid_controller_;
+  static Pid right_pid_controller_;
 
   /// Tracks the last time the PID computation was made.
   static unsigned long last_pid_computation_;

diff --git a/andino_firmware/src/pid.cpp b/andino_firmware/src/pid.cpp
@@ -71,7 +71,7 @@ namespace andino {
 //  - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/
 //  - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-tuning-changes/
 
-void PID::reset(int encoder_count) {
+void Pid::reset(int encoder_count) {
   // Since we can assume that the PID is only turned on when going from stop to moving, we can init
   // everything on zero.
   setpoint_ = 0;
@@ -82,15 +82,15 @@ void PID::reset(int encoder_count) {
 }
 
 /// @brief Enable PID
-void PID::enable() { enabled_ = true; }
+void Pid::enable() { enabled_ = true; }
 
 /// @brief Is the PID controller enabled?
-bool PID::enabled() { return enabled_; }
+bool Pid::enabled() { return enabled_; }
 
 /// @brief Disable PID
-void PID::disable() { enabled_ = false; }
+void Pid::disable() { enabled_ = false; }
 
-void PID::compute(int encoder_count, int& computed_output) {
+void Pid::compute(int encoder_count, int& computed_output) {
   if (!enabled_) {
     // Reset PID once to prevent startup spikes.
     if (last_input_ != 0) {
@@ -123,9 +123,9 @@ void PID::compute(int encoder_count, int& computed_output) {
   last_output_ = output;
 }
 
-void PID::set_setpoint(int setpoint) { setpoint_ = setpoint; }
+void Pid::set_setpoint(int setpoint) { setpoint_ = setpoint; }
 
-void PID::set_tunings(int kp, int kd, int ki, int ko) {
+void Pid::set_tunings(int kp, int kd, int ki, int ko) {
   kp_ = kp;
   kd_ = kd;
   ki_ = ki;

diff --git a/andino_firmware/src/pid.h b/andino_firmware/src/pid.h
@@ -32,7 +32,7 @@
 namespace andino {
 
 /// @brief This class provides a simple PID controller implementation.
-class PID {
+class Pid {
  public:
   /// @brief Constructs a new PID object.
   ///
@@ -42,13 +42,8 @@ class PID {
   /// @param ko Tuning output gain.
   /// @param output_min Output minimum limit.
   /// @param output_max Output maximum limit.
-  PID(int kp, int kd, int ki, int ko, int output_min, int output_max)
-      : kp_(kp),
-        kd_(kd),
-        ki_(ki),
-        ko_(ko),
-        output_min_(output_min),
-        output_max_(output_max) {}
+  Pid(int kp, int kd, int ki, int ko, int output_min, int output_max)
+      : kp_(kp), kd_(kd), ki_(ki), ko_(ko), output_min_(output_min), output_max_(output_max) {}
 
   /// @brief Resets the PID controller.
   ///

diff --git a/andino_firmware/test/desktop/test_pid/pid_test.cpp b/andino_firmware/test/desktop/test_pid/pid_test.cpp
@@ -36,7 +36,7 @@ namespace test {
 namespace {
 
 TEST(PidTest, Initialize) {
-  andino::PID pid_controller(1, 0, 0, 1, -100, 100);
+  andino::Pid pid_controller(1, 0, 0, 1, -100, 100);
   int output = 0;
 
   // Controller is disabled by default, so output variable should remain unchanged.
@@ -45,7 +45,7 @@ TEST(PidTest, Initialize) {
 }
 
 TEST(PidTest, ComputeOutputProportionalGain) {
-  andino::PID pid_controller(3, 0, 0, 1, -100, 100);
+  andino::Pid pid_controller(3, 0, 0, 1, -100, 100);
   int output = 0;
   pid_controller.set_setpoint(15);
   pid_controller.enable();
@@ -58,7 +58,7 @@ TEST(PidTest, ComputeOutputProportionalGain) {
 }
 
 TEST(PidTest, ComputeOutputProportionalAndDerivativeGain) {
-  andino::PID pid_controller(3, 2, 0, 1, -100, 100);
+  andino::Pid pid_controller(3, 2, 0, 1, -100, 100);
   int output = 0;
   pid_controller.set_setpoint(15);
   pid_controller.enable();
@@ -71,7 +71,7 @@ TEST(PidTest, ComputeOutputProportionalAndDerivativeGain) {
 }
 
 TEST(PidTest, ComputeOutputProportionalAndIntegralGain) {
-  andino::PID pid_controller(3, 0, 1, 1, -100, 100);
+  andino::Pid pid_controller(3, 0, 1, 1, -100, 100);
   int output = 0;
   pid_controller.set_setpoint(15);
   pid_controller.enable();
@@ -84,7 +84,7 @@ TEST(PidTest, ComputeOutputProportionalAndIntegralGain) {
 }
 
 TEST(PidTest, ComputeOutputProportionalDerivativeAndIntegralGain) {
-  andino::PID pid_controller(3, 2, 1, 1, -100, 100);
+  andino::Pid pid_controller(3, 2, 1, 1, -100, 100);
   int output = 0;
   pid_controller.set_setpoint(15);
   pid_controller.enable();
@@ -97,7 +97,7 @@ TEST(PidTest, ComputeOutputProportionalDerivativeAndIntegralGain) {
 }
 
 TEST(PidTest, Reset) {
-  andino::PID pid_controller(3, 0, 0, 1, -100, 100);
+  andino::Pid pid_controller(3, 0, 0, 1, -100, 100);
   int output = 0;
   pid_controller.set_setpoint(15);
   pid_controller.enable();
@@ -113,7 +113,7 @@ TEST(PidTest, Reset) {
 }
 
 TEST(PidTest, SetTunings) {
-  andino::PID pid_controller(3, 0, 0, 1, -100, 100);
+  andino::Pid pid_controller(3, 0, 0, 1, -100, 100);
   int output = 0;
   pid_controller.set_setpoint(15);
   pid_controller.enable();