Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix PID class name case #218

Merged
merged 1 commit into from
Feb 14, 2024
Merged

Fix PID class name case #218

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions andino_firmware/src/app.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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};
Expand Down
4 changes: 2 additions & 2 deletions andino_firmware/src/app.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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_;
Expand Down
14 changes: 7 additions & 7 deletions andino_firmware/src/pid.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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) {
Expand Down Expand Up @@ -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;
Expand Down
11 changes: 3 additions & 8 deletions andino_firmware/src/pid.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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.
///
Expand All @@ -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.
///
Expand Down
14 changes: 7 additions & 7 deletions andino_firmware/test/desktop/test_pid/pid_test.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand All @@ -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();
Expand All @@ -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();
Expand All @@ -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();
Expand All @@ -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();
Expand All @@ -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();
Expand All @@ -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();
Expand Down
Loading