From 14dafccfac783c2885a4d97f723d0851e7016e8d Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Thu, 31 Dec 2020 18:40:58 -0500 Subject: [PATCH 01/13] created pid lib and fixed easily fixable errors --- apps/test-pid/CMakeLists.txt | 5 +- apps/test-pid/include/control.h | 420 +++++++++++++++ apps/test-pid/include/feedback.h | 458 ++++++++++++++++ apps/test-pid/include/setpoint.h | 458 ++++++++++++++++ apps/test-pid/src/main.cpp | 135 ++--- lib/controllers/include/ActuatorController.h | 6 +- lib/controllers/src/ActuatorController.cpp | 6 +- lib/pid/include/PID.h | 319 ++--------- lib/pid/src/PID.cpp | 537 +++---------------- 9 files changed, 1513 insertions(+), 831 deletions(-) create mode 100644 apps/test-pid/include/control.h create mode 100644 apps/test-pid/include/feedback.h create mode 100644 apps/test-pid/include/setpoint.h diff --git a/apps/test-pid/CMakeLists.txt b/apps/test-pid/CMakeLists.txt index 003a03392..3bb150286 100644 --- a/apps/test-pid/CMakeLists.txt +++ b/apps/test-pid/CMakeLists.txt @@ -1,4 +1,7 @@ add_executable(test-pid.${TARGET}-board.elf) target_sources(test-pid.${TARGET}-board.elf PRIVATE src/main.cpp) -target_link_libraries(test-pid.${TARGET}-board.elf PRIVATE PID) +target_link_libraries(test-pid.${TARGET}-board.elf PRIVATE PID SimulatedPIDValues) target_set_firmware_properties(test-pid.${TARGET}-board.elf) + +add_library(SimulatedPIDValues INTERFACE) +target_include_directories(SimulatedPIDValues INTERFACE include) diff --git a/apps/test-pid/include/control.h b/apps/test-pid/include/control.h new file mode 100644 index 000000000..8e7466a6a --- /dev/null +++ b/apps/test-pid/include/control.h @@ -0,0 +1,420 @@ +#pragma once +#include +constexpr std::array control = { + 0.0, 0.01537, 0.04646, 0.07826, 0.11076, 0.14395, 0.17784, 0.21242, 0.24768, 2.39472, 0.4845, 1.38464, + 1.06956, 1.48151, 1.39959, 1.55301, 1.5914, 1.68589, 1.75929, 1.93416, 2.0732, 2.23647, 2.39638, 2.56582, + 2.73841, 2.91722, 3.10056, 3.28922, 3.48264, 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a/apps/test-pid/src/main.cpp +++ b/apps/test-pid/src/main.cpp @@ -1,110 +1,45 @@ -#include "PID.h" -#include "mbed.h" - -// Defines -#define MIN_RPM 0 // change min/max RPMs based on motor used -#define MAX_RPM 300 -#define COUNTS_PER_REV 1200 // motor property -#define TIMER_INTERRUPT_FREQ 250ms // frequency of timer interrupt for input calculation -#define GOAL_RPM 100.0 -#define K_UPDATE_PERIOD 150ms - -// motor direction pin and pwm out pin, modify as needed -DigitalOut MOTOR_DIR(D8); -PwmOut MOTOR_PWM_OUT(D9); - -// interrupt in to count encoder rises/falls -InterruptIn encoderCh1(D2); -InterruptIn encoderCh2(D3); - -PID rpmPIDController(0.010268, 0.0260, 0, K_UPDATE_PERIOD); -Timer timer; +/** + * This app tests the functionality of our PID library + * It uses the setpoint and feedback values defined in setpoint.h and feedback.h respectively + * Next, the control signal generated by our PID library is compared to that in control.h + * The data found in the header files was generated using a MatLab script + * NOTE: This test-app is purely computational, no motors or encoders are required + */ -// Variables -uint64_t pulseCount = 0; -uint64_t oldPulseCount = 0; -float motorRPM = 0.0; -float motorPWMDuty = 0.0; -Ticker interruptTimer; +#include -// PID AutoTune config struct for specific DC motor, change depending on actuator -PID::t_AutoTuneConfig autoTuneConfig = { - .nLookBack = 40, .sampleTime = 250ms, .outputStart = 0.4, .oStep = 0.25, .noiseBand = 0.01, .setpoint = 120}; +#include "PID.h" +#include "control.h" +#include "feedback.h" +#include "setpoint.h" -// Setup velocity PID controller -void initializePidController(void) { - rpmPIDController.setInputLimits(MIN_RPM, MAX_RPM); - rpmPIDController.setOutputLimits(0.0, 1.0); - rpmPIDController.setBias(0.0); - rpmPIDController.setMode(PID_AUTO_MODE); - rpmPIDController.setupAutoTune(&MOTOR_PWM_OUT, &motorRPM, 0); -} +constexpr uint8_t KP = 2; +constexpr uint8_t KI = 103; +constexpr uint8_t KD = 1; +constexpr int32_t min_rpm = INT32_MIN, max_rpm = INT32_MAX; // no saturation +constexpr float deadzone = 0; +constexpr auto pid_period = 1ms; -// every time a pulse is received from the encoder channels, increase the pulse count -void countPulses() { - pulseCount++; -} - -// every timer interrupt, recompute the rpm -void computeInput() { - motorRPM = (pulseCount - oldPulseCount) / - std::chrono::duration_cast>>(TIMER_INTERRUPT_FREQ).count() / - COUNTS_PER_REV; - oldPulseCount = pulseCount; -} +std::array control_error; // compare matlab's control signal to ours int main() { - encoderCh1.rise(&countPulses); // attach the address of the pulse count function to the rising edge - encoderCh1.fall(&countPulses); - encoderCh2.rise(&countPulses); - encoderCh2.fall(&countPulses); - - printf("PID Test - Start \r\n"); - - // Initialization - std::chrono::duration interval = 0.1s; - initializePidController(); - rpmPIDController.setSetPoint(GOAL_RPM); // Set RPM set point - MOTOR_DIR = 1; // set default direction - interruptTimer.attach(&computeInput, TIMER_INTERRUPT_FREQ); // attach function to timer interrupt - timer.start(); - - // uncomment below line and comment line after for debug output - // rpmPIDController.autoTune(&pc, true, &autoTuneConfig); - rpmPIDController.autoTune(true, &autoTuneConfig); - - printf("Autotune Params obtained: Kc: %f \t TauI: %f \t TauD: %f \r\n", rpmPIDController.getATunePParam(), - rpmPIDController.getATuneIParam(), rpmPIDController.getATuneDParam()); - rpmPIDController.setAutoTuneParams(); - interruptTimer.detach(); - - ThisThread::sleep_for(5s); - - Timer eval; - eval.start(); - - while (1) { - motorRPM = (pulseCount - oldPulseCount) * - std::chrono::duration_cast>>(interval).count() / - COUNTS_PER_REV; - oldPulseCount = pulseCount; - - // Update the PID controller - rpmPIDController.setInterval(interval); - rpmPIDController.setProcessValue(motorRPM); - motorPWMDuty = rpmPIDController.compute(); - MOTOR_PWM_OUT = motorPWMDuty; - - printf("Motor RPM: %f, \t Goal RPM: %f, \t PWM Output: %f\r\n", motorRPM, GOAL_RPM, motorPWMDuty); - if (abs(motorRPM - GOAL_RPM) < 1.0) { - printf("Time taken to reach goal RPM: %f seconds \r\n", - std::chrono::duration_cast>(eval.elapsed_time()).count()); - MOTOR_DIR = 0; - return 0; + printf("##################### PID TEST APP STARTED #####################\r\n"); + PID::Pid controller(KP, KI, KD, min_rpm, max_rpm, deadzone, false); + Timer timer; + for (uint64_t i = 0; i < control_error.size(); i++) { + if (i % 1000 == 0) { + printf("Completed %lld/50001 iterations\r\n", (long long)i); } - - ThisThread::sleep_for(K_UPDATE_PERIOD); - interval = std::chrono::duration_cast>(timer.elapsed_time()); timer.reset(); + timer.start(); + control_error[i] = std::abs(control.at(i) - controller.compute(setpoint.at(i), feedback.at(i))); + timer.stop(); + MBED_ASSERT(pid_period > timer.elapsed_time()); + wait_us((pid_period - timer.elapsed_time()).count()); // account for compute time } + printf("ERROR STATISTICS\r\n"); + float average = std::accumulate(control_error.begin(), control_error.end(), 0.0) / control_error.size(); + printf("Average difference between Matlab control signal and our control signal: %.3f\r\n", average); + while (true) + ; } diff --git a/lib/controllers/include/ActuatorController.h b/lib/controllers/include/ActuatorController.h index 612aaa7d3..86ca54bdd 100644 --- a/lib/controllers/include/ActuatorController.h +++ b/lib/controllers/include/ActuatorController.h @@ -19,7 +19,7 @@ class ActuatorController { float minVelocity_DegreesPerSec = -10.0, maxVelocity_DegreesPerSec = +10.0; float minAngle_Degrees = -90, maxAngle_Degrees = +90; - PID::t_pidConfig velocityPID, positionPID; + PID::Config velocityPID, positionPID; std::chrono::duration watchDogTimeout = 3.0s; } t_actuatorConfig; @@ -62,8 +62,8 @@ class ActuatorController { bool m_limSwitchMin_Connected; bool m_limSwitchMax_Connected; - PID m_velocityPIDController; - PID m_positionPIDController; + PID::Pid m_velocityPIDController; + PID::Pid m_positionPIDController; Timer m_updateTimer; diff --git a/lib/controllers/src/ActuatorController.cpp b/lib/controllers/src/ActuatorController.cpp index 0329546d6..e1f08cdeb 100644 --- a/lib/controllers/src/ActuatorController.cpp +++ b/lib/controllers/src/ActuatorController.cpp @@ -11,10 +11,8 @@ ActuatorController::ActuatorController(t_actuatorConfig actuatorConfig, Motor &m r_encoder(encoder), r_limSwitchMin(limSwitchMin), r_limSwitchMax(limSwitchMax), - m_velocityPIDController(actuatorConfig.velocityPID.P, actuatorConfig.velocityPID.I, actuatorConfig.velocityPID.D, - 0.0s), - m_positionPIDController(actuatorConfig.positionPID.P, actuatorConfig.positionPID.I, actuatorConfig.positionPID.D, - 0.0s) { + m_velocityPIDController(actuatorConfig.velocityPID), + m_positionPIDController(actuatorConfig.positionPID) { m_limSwitchMin_Connected = (r_limSwitchMin != NULL_DIGITAL_IN && r_limSwitchMin.is_connected()); m_limSwitchMax_Connected = (r_limSwitchMax != NULL_DIGITAL_IN && r_limSwitchMax.is_connected()); diff --git a/lib/pid/include/PID.h b/lib/pid/include/PID.h index 5a7c20de6..2fd9efa58 100644 --- a/lib/pid/include/PID.h +++ b/lib/pid/include/PID.h @@ -1,282 +1,61 @@ /** - * @author Aaron Berk + * This PID library was inspired by http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/ + * Terminology: + * Plant: What you are trying to control + * Process Variable(PV): Measured value of plant. Sensor reading. + * Setpoint: Desired state of the plant + * Deadzone: Value below which error is considered 0 + * Gain: Scalar seen in the state space representation of a PID controller + * Path: A path on the state space representation of a PID controller + * Features: + * Thread-safety: This PID library is thread safe. + * WARNING: Mutexes wait for lock indefinetly, since deadlock is currently impossible + * If modifying the code, ensure deadlock remains impossible + * Anti-Windup: See this video: https://www.youtube.com/watch?v=NVLXCwc8HzM&t=571s&ab_channel=MATLAB + * See also Brett Beauregard blog + * Anti-Derivative-Kickback: Avoid jerkiness, by differentiating on PV. See Brett Beauregard blog * - * @section LICENSE - * - * Copyright (c) 2010 ARM Limited - * - * 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. - * - * @section DESCRIPTION - * - * A PID controller is a widely used feedback controller commonly found in - * industry. - * - * This library is a port of Brett Beauregard's Arduino PID library: - * - * http://www.arduino.cc/playground/Code/PIDLibrary - * - * The wikipedia article on PID controllers is a good place to start on - * understanding how they work: - * - * http://en.wikipedia.org/wiki/PID_controller - * - * For a clear and elegant explanation of how to implement and tune a - * controller, the controlguru website by Douglas J. Cooper (who also happened - * to be Brett's controls professor) is an excellent reference: - * - * http://www.controlguru.com/ */ - #pragma once -/** - * Includes - */ -#include "mbed.h" - -/** - * Defines - */ -#define PID_MANUAL_MODE 0 -#define PID_AUTO_MODE 1 - -/** - * Proportional-integral-derivative controller. - */ -class PID { +namespace PID { +typedef struct Config { + uint32_t proportionalGain, integralGain, derivativeGain; + int32_t lowerBound, upperBound; + float deadzone; + bool antiKickback = true; +} Config; +class Pid { public: - typedef struct { - float P, I, D, bias = 0.0; - float deadZoneError = 0.0; - } t_pidConfig; - - // add other actuators here - enum ActuatorType { PWM_MOTOR }; - - // configurable parameters for autotuning process - typedef struct { - int nLookBack; - std::chrono::duration sampleTime; - float outputStart, oStep, noiseBand, setpoint; - } t_AutoTuneConfig; - - /** - * Constructor. - * - * Sets default limits [0-3.3V], calculates tuning parameters, and sets - * manual mode with no bias. - * - * @param Kc - Tuning parameter - * @param tauI - Tuning parameter - * @param tauD - Tuning parameter - * @param interval PID calculation performed every interval seconds. - */ - PID(float Kc, float tauI, float tauD, std::chrono::duration interval); - - /** - * Scale from inputs to 0-100%. - * - * @param InMin The real world value corresponding to 0%. - * @param InMax The real world value corresponding to 100%. - */ - void setInputLimits(float inMin, float inMax); + Pid(uint32_t proportionalGain, uint32_t intregralGain, uint32_t derivativeGain, int32_t lowerBound, + int32_t upperBound, float deadzone, bool antiKickback = true); + Pid(const Config &config); - /** - * Scale from outputs to 0-100%. - * - * @param outMin The real world value corresponding to 0%. - * @param outMax The real world value corresponding to 100%. - */ - void setOutputLimits(float outMin, float outMax); + void updateProportionalGain(uint32_t p); + void updateIntegralGain(uint32_t i); + void updateDerivativeGain(uint32_t d); + void updateDeadzone(float deadzone); - /** - * Calculate PID constants. - * - * Allows parameters to be changed on the fly without ruining calculations. - * - * @param Kc - Tuning parameter - * @param tauI - Tuning parameter - * @param tauD - Tuning parameter - */ - void setTunings(float Kc, float tauI, float tauD); + uint32_t reportProportionalGain() const; + uint32_t reportIntegralGain() const; + uint32_t reportDerivativeGain() const; + float reportDeadzone() const; - /** - * Reinitializes controller internals. Automatically - * called on a manual to auto transition. - */ - void reset(void); - - /** - * Set PID to manual or auto mode. - * - * @param mode 0 -> Manual - * Non-zero -> Auto - */ - void setMode(int mode); - - /** - * Set how fast the PID loop is run. - * - * @param interval PID calculation peformed every interval seconds. - */ - void setInterval(std::chrono::duration interval); - - /** - * Set the set point. - * - * @param sp The set point as a real world value. - */ - void setSetPoint(float sp); - - /** - * Set the process value. - * - * @param pv The process value as a real world value. - */ - void setProcessValue(float pv); - - /** - * Set the bias. - * - * @param bias The bias for the controller output. - */ - void setBias(float bias); - - /** - * Set the dead zone error to allow error to round down if within +/- this value - * @param error Round error down to 0.0 if error is within +/- this value - */ - void setDeadZoneError(float error); - - /** - * Set real output value - * @param realOutput real life output - */ - void setRealOutput(float realOutput); - - /** - * Setup needed before autotuning - * @param outputPointer generic pointer to actual output (ex. PWM pin) - * @param inputPointer pointer to calculated input value, usually done in background on main - * @param actuatorType type of actuator needed to cast generic void pointer - */ - void setupAutoTune(void *outputPointer, float *inputPointer, int actuatorType); - - /** - * Run the autotuning algorithm and set autoTune class member variables - * @param PI choose between PI and PID control, calculation is different - * @param autoTuneConfig pointer to config struct for autotune, optional - */ - // uncomment below line and comment line after for debug output - // void autoTune(Serial *pc, bool PI, t_AutoTuneConfig *autoTuneConfig = nullptr); - void autoTune(bool PI, t_AutoTuneConfig *autoTuneConfig = nullptr); - - /** - * Set the output from within the PID class, needed for autotuning - * @param output output as a float, casting done in function based on actuator type - */ - void setOutput(float output); - - /** - * Set the tuning values to the calculated autotuning parameters - */ - void setAutoTuneParams(); - - /** - * PID calculation. - * - * @return The controller output as a float between outMin and outMax. - */ - float compute(void); - - // Getters. - float getInMin(); - float getInMax(); - float getOutMin(); - float getOutMax(); - std::chrono::duration getInterval(); - float getPParam(); - float getIParam(); - float getDParam(); - float getATunePParam(); - float getATuneIParam(); - float getATuneDParam(); - float getSetPoint(); + void reset(); + float compute(float setPoint, float processVariable); // takes ~17us to run private: - bool usingFeedForward; - bool inAuto; - - // Actual tuning parameters used in PID calculation. - float Kc_; - float tauR_; - float tauD_; - - // Tuning parameters calculated from autotuning function - float autoTuneKc_; - float autoTuneTauR_; - float autoTuneTauD_; - - // Input/Output pointers for AutoTuning - void *output_; - float *input_; - - // Store type of actuator PID is being used on - int actuatorType_; - - // Struct with all the autotune parameters - t_AutoTuneConfig AutoTuneConfig; - - // Raw tuning parameters. - float pParam_; - float iParam_; - float dParam_; - - // The point we want to reach. - float setPoint_; - // The thing we measure. - float processVariable_; - float prevProcessVariable_; - // The output that affects the process variable. - float controllerOutput_; - float prevControllerOutput_; - - // We work in % for calculations so these will scale from - // real world values to 0-100% and back again. - float inMin_; - float inMax_; - float inSpan_; - float outMin_; - float outMax_; - float outSpan_; - - // The accumulated error, i.e. integral. - float accError_; - // The allowed error range for error to be rounded to 0.0 - float deadZoneError_; - // The controller output bias. - float bias_; - - // The interval between samples. - std::chrono::duration tSample_; - - // Controller output as a real world value. - volatile float realOutput_; + mutable Mutex m_mutex; + Timer m_timer; + uint32_t m_PGain, m_IGain, m_DGain; + const int32_t m_lowerBound, m_upperBound; + float m_deadzone; + float m_IPath; + float m_pastError, m_pastPV; + const bool m_antiKickback; + float computePPath(float error); + float computeIPath(float error, int64_t dt); + float computeDPathOnError(float error, int64_t dt); + float computeDPathOnPV(float PV, int64_t dt); }; +} // namespace PID diff --git a/lib/pid/src/PID.cpp b/lib/pid/src/PID.cpp index 14ccf1b55..c742e8a77 100644 --- a/lib/pid/src/PID.cpp +++ b/lib/pid/src/PID.cpp @@ -1,492 +1,123 @@ -/** - * @author Aaron Berk - * - * @section LICENSE - * - * Copyright (c) 2010 ARM Limited - * - * 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. - * - * @section DESCRIPTION - * - * A PID controller is a widely used feedback controller commonly found in - * industry. - * - * This library is a port of Brett Beauregard's Arduino PID library: - * - * http://www.arduino.cc/playground/Code/PIDLibrary - * - * The wikipedia article on PID controllers is a good place to start on - * understanding how they work: - * - * http://en.wikipedia.org/wiki/PID_controller - * - * For a clear and elegant explanation of how to implement and tune a - * controller, the controlguru website by Douglas J. Cooper (who also happened - * to be Brett's controls professor) is an excellent reference: - * - * http://www.controlguru.com/ - * - * Additions to original PID library: - * - * Autotuning capability, based on this library: - * https://github.com/br3ttb/Arduino-PID-AutoTune-Library - * - * Associated blog post: - * http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/ - * - * General usage for autotuning: - * 1. Create function that calculates required input and attach to a timer - * interrupt so it can run in the background (or multithread it) - * 2. Add actuator type to enum in PID class if it doesn't exist - * 3. Add type cast for actuator type in setOutput() function if it doesn't exist - * 4. Using PID object call setupAutoTune() passing it I/O pointers and actuator type - * 5. Call autoTune() function, choose whether you want PI or PID control. Also can - * pass a autoTuneConfig struct for autotune params (if nothing is passed, default - * will be used). - * 6. Highly recommend monitoring autotune loop, try to change outputStart and oStep - * such that the output oscillates evenly about the setpoint - * 7. Choose whether or not to use autoTune parameters, can set using - * setAutoTuneParams() function - * - * General note: Don't fully rely on autoTune params, use this as a starting point - * for finding the right PID tuning params and test if they work well or not - */ - -/** - * Includes - */ - #include "PID.h" -PID::PID(float Kc, float tauI, float tauD, std::chrono::duration interval) { - usingFeedForward = false; - inAuto = false; - - // Default the limits to the full range of I/O: 3.3V - // Make sure to set these to more appropriate limits for - // your application. - setInputLimits(0.0, 3.3); - setOutputLimits(0.0, 3.3); - - tSample_ = interval; +#include +#include - setTunings(Kc, tauI, tauD); +using namespace PID; - setPoint_ = 0.0; - processVariable_ = 0.0; - prevProcessVariable_ = 0.0; - controllerOutput_ = 0.0; - prevControllerOutput_ = 0.0; +PID::Pid::Pid(uint32_t proportionalGain, uint32_t intregralGain, uint32_t derivativeGain, int32_t lowerBound, + int32_t upperBound, float deadzone, bool antiKickback) + : m_PGain(proportionalGain), + m_IGain(intregralGain), + m_DGain(derivativeGain), + m_lowerBound(lowerBound), + m_upperBound(upperBound), + m_deadzone(deadzone), + m_IPath(0), + m_pastError(0), + m_pastPV(0), + m_antiKickback(antiKickback) {} - accError_ = 0.0; - deadZoneError_ = 0.0; - bias_ = 0.0; +PID::Pid::Pid(const PID::Config &config) + : Pid(config.proportionalGain, config.integralGain, config.derivativeGain, config.lowerBound, config.upperBound, + config.deadzone, config.antiKickback) {} - realOutput_ = 0.0; +void PID::Pid::updateProportionalGain(uint32_t p) { + std::lock_guard lock(m_mutex); + m_PGain = p; } -void PID::setInputLimits(float inMin, float inMax) { - // Make sure we haven't been given impossible values. - if (inMin >= inMax) { - return; - } - - inSpan_ = inMax - inMin; - - // Rescale the working variables to reflect the changes. - prevProcessVariable_ *= (inMax - inMin) / inSpan_; - accError_ *= (inMax - inMin) / inSpan_; - - // Make sure the working variables are within the new limits. - if (prevProcessVariable_ > 1) { - prevProcessVariable_ = 1; - } else if (prevProcessVariable_ < 0) { - prevProcessVariable_ = 0; - } - - inMin_ = inMin; - inMax_ = inMax; +void PID::Pid::updateIntegralGain(uint32_t i) { + std::lock_guard lock(m_mutex); + m_IGain = i; } -void PID::setOutputLimits(float outMin, float outMax) { - // Make sure we haven't been given impossible values. - if (outMin >= outMax) { - return; - } - - // Rescale the working variables to reflect the changes. - prevControllerOutput_ *= (outMax - outMin) / outSpan_; - - // Make sure the working variables are within the new limits. - if (prevControllerOutput_ > 1) { - prevControllerOutput_ = 1; - } else if (prevControllerOutput_ < 0) { - prevControllerOutput_ = 0; - } - - outMin_ = outMin; - outMax_ = outMax; - outSpan_ = outMax - outMin; +void PID::Pid::updateDerivativeGain(uint32_t d) { + std::lock_guard lock(m_mutex); + m_DGain = d; } -void PID::setTunings(float Kc, float tauI, float tauD) { - // Verify that the tunings make sense. - if (Kc == 0.0 || tauI < 0.0 || tauD < 0.0) { - return; - } - - // Store raw values to hand back to user on request. - pParam_ = Kc; - iParam_ = tauI; - dParam_ = tauD; - - float tempTauR; - - if (tauI == 0.0) { - tempTauR = 0.0; - } else { - tempTauR = (1.0 / tauI) * tSample_.count(); - } - - // For "bumpless transfer" we need to rescale the accumulated error. - if (inAuto) { - if (tempTauR == 0.0) { - accError_ = 0.0; - } else { - accError_ *= (Kc_ * tauR_) / (Kc * tempTauR); - } - } - - Kc_ = Kc; - tauR_ = tempTauR; - tauD_ = tauD / tSample_.count(); +void PID::Pid::updateDeadzone(float deadzone) { + std::lock_guard lock(m_mutex); + m_deadzone = deadzone; } -void PID::reset(void) { - float scaledBias = 0.0; - - if (usingFeedForward) { - scaledBias = (bias_ - outMin_) / outSpan_; - } else { - scaledBias = (realOutput_ - outMin_) / outSpan_; - } - - prevControllerOutput_ = scaledBias; - prevProcessVariable_ = (processVariable_ - inMin_) / inSpan_; - - // Clear any error in the integral. - accError_ = 0; -} - -void PID::setMode(int mode) { - // We were in manual, and we just got set to auto. - // Reset the controller internals. - if (mode != 0 && !inAuto) { - reset(); - } - - inAuto = (mode != 0); +uint32_t PID::Pid::reportProportionalGain() const { + std::lock_guard lock(m_mutex); + return m_PGain; } -void PID::setInterval(std::chrono::duration interval) { - if (interval > 0s) { - // Convert the time-based tunings to reflect this change. - tauR_ *= (interval / tSample_); - accError_ *= (tSample_ / interval); - tauD_ *= (interval / tSample_); - tSample_ = interval; - } -} - -void PID::setSetPoint(float sp) { - setPoint_ = sp; +uint32_t PID::Pid::reportIntegralGain() const { + std::lock_guard lock(m_mutex); + return m_IGain; } -void PID::setProcessValue(float pv) { - processVariable_ = pv; +uint32_t PID::Pid::reportDerivativeGain() const { + std::lock_guard lock(m_mutex); + return m_DGain; } -void PID::setBias(float bias) { - bias_ = bias; - usingFeedForward = 1; +float PID::Pid::reportDeadzone() const { + std::lock_guard lock(m_mutex); + return m_deadzone; } -void PID::setDeadZoneError(float error) { - deadZoneError_ = error; +void PID::Pid::reset() { + std::lock_guard lock(m_mutex); + m_IPath = 0; + m_pastError = 0; + m_pastPV = 0; + m_timer.stop(); + m_timer.reset(); } -void PID::setRealOutput(float realOutput) { - realOutput_ = realOutput; +float PID::Pid::computePPath(float error) { + // no mutex lock needed since inside compute() only + return error * m_PGain; } -void PID::setupAutoTune(void *outputPointer, float *inputPointer, int actuatorType) { - // set actuator type - actuatorType_ = actuatorType; - - // set I/O pointers - output_ = outputPointer; - input_ = inputPointer; +float PID::Pid::computeIPath(float error, int64_t dt) { + // no mutex lock needed since inside compute() only + m_IPath += error * dt * m_IGain; + m_IPath = std::clamp(m_IPath, static_cast(m_lowerBound), static_cast(m_upperBound)); + return m_IPath; } -// for debug output uncomment below line and comment out line after -// void PID::autoTune(Serial *pc, bool PI, PID::t_AutoTuneConfig *autoTuneConfig) { -void PID::autoTune(bool PI, PID::t_AutoTuneConfig *autoTuneConfig) { - Timer timer; - bool isMax, isMin, justchanged; - float absMax, absMin, refVal, Ku, Pu; - std::chrono::duration peak1, peak2; - int peakType, peakCount; - float lastInputs[101] = {0}; - float peaks[10]; - - // if no config struct was passed, create one with default values - // outputStart = half of range, oStep = 10% of range, noiseBand = 1% of range - if (autoTuneConfig == nullptr) { - autoTuneConfig = new PID::t_AutoTuneConfig(); - autoTuneConfig->nLookBack = 40; - autoTuneConfig->sampleTime = 250ms; - float outputStart = outMax_ / 2; - if (outputStart < outMin_) outputStart = outMin_; - autoTuneConfig->outputStart = outputStart; - autoTuneConfig->oStep = outSpan_ * 0.15; - autoTuneConfig->noiseBand = outSpan_ * 0.01; - autoTuneConfig->setpoint = setPoint_; - } - - // initialize variables - peakType = peakCount = 0; - peak1 = peak2 = 0s; - justchanged = false; - refVal = absMax = absMin = autoTuneConfig->setpoint; - - setOutput(autoTuneConfig->outputStart + autoTuneConfig->oStep); - - timer.start(); - - while (1) { - // for debugging uncomment this line and add serial object as argument (called pc) - // pc->printf("Peak count: %d, \t refVal: %f \r\n", peakCount, refVal); - // enough peaks to calculate params - if (peakCount > 9) { - break; - } - - std::chrono::duration last_timer_time = timer.elapsed_time(); - - refVal = *input_; - - if (refVal > absMax && refVal < inMax_) absMax = refVal; - if (refVal < absMin && refVal < inMin_) absMin = refVal; - - // oscillate output - if (refVal > autoTuneConfig->setpoint + autoTuneConfig->noiseBand) { - setOutput(autoTuneConfig->outputStart - autoTuneConfig->oStep); - } else if (refVal < autoTuneConfig->setpoint - autoTuneConfig->noiseBand) { - setOutput(autoTuneConfig->outputStart + autoTuneConfig->oStep); - } - - isMax = isMin = true; - - // id peaks - for (int i = autoTuneConfig->nLookBack - 1; i >= 0; i--) { - float val = lastInputs[i]; - if (isMax) isMax = refVal > val; - if (isMin) isMin = refVal < val; - lastInputs[i + 1] = lastInputs[i]; - } - lastInputs[0] = refVal; - - if (isMax) { - if (peakType == 0) peakType = 1; - if (peakType == -1) { - peakType = 1; - justchanged = true; - peak2 = peak1; - } - peak1 = last_timer_time; - peaks[peakCount] = refVal; - - } else if (isMin) { - if (peakType == 0) peakType = -1; - if (peakType == 1) { - peakType = -1; - peakCount++; - justchanged = true; - } - - if (peakCount < 10) peaks[peakCount] = refVal; - } - - // Transition, check if we can autotune based on the last peaks - if (justchanged && peakCount > 2) { - float avgSeparation = - (abs(peaks[peakCount - 1] - peaks[peakCount - 2]) + abs(peaks[peakCount - 2] - peaks[peakCount - 3])) / 2; - if (avgSeparation < 0.05 * (absMax - absMin)) break; - } - justchanged = false; - - // wait for sample time interval - while ((timer.elapsed_time() - last_timer_time) < autoTuneConfig->sampleTime) - ; - } - - // calculate autotune parameters TODO: FIXME! Clean this up. Where are these magic numbers from(@tandronescu)? - Ku = 4 * (2 * autoTuneConfig->oStep) / ((absMax - absMin) * M_PI); - Pu = (peak1 - peak2).count(); - - // if we only PI control is desired, alternate calculations and TauD set to 0 - if (PI) { - autoTuneKc_ = 0.45 * Ku; - autoTuneTauR_ = 0.54 * Ku / Pu; - autoTuneTauD_ = 0; - } else { - autoTuneKc_ = 0.6 * Ku; - autoTuneTauR_ = 1.2 * Ku / Pu; - autoTuneTauD_ = 0.075 * Ku * Pu; +float PID::Pid::computeDPathOnError(float error, int64_t dt) { + // no mutex lock needed since inside compute() only + float derivativePath = 0; + if (dt != 0) { + derivativePath = m_DGain * (error - m_pastError) / dt; } + return derivativePath; } -void PID::setOutput(float output) { - // bound output to limits - if (output > outMax_) - output = outMax_; - else if (output < outMin_) - output = outMin_; - - // cast void pointer based on required output type - // add desired output types here and convert from float as necessary - switch (actuatorType_) { - case PWM_MOTOR: { - *static_cast(output_) = output; - break; - } - default: - *(float *)output_ = output; +float PID::Pid::computeDPathOnPV(float processVariable, int64_t dt) { + // no mutex lock needed since inside compute() only + float derivativePath = 0; + if (dt != 0) { + derivativePath = m_DGain * (processVariable - m_pastPV) / dt; } + return derivativePath; } -void PID::setAutoTuneParams() { - setTunings(autoTuneKc_, autoTuneTauR_, autoTuneTauD_); -} - -float PID::compute() { - // Pull in the input and setpoint, and scale them into percent span. - float scaledPV = (processVariable_ - inMin_) / inSpan_; - - if (scaledPV > 1.0) { - scaledPV = 1.0; - } else if (scaledPV < 0.0) { - scaledPV = 0.0; - } - - float scaledSP = (setPoint_ - inMin_) / inSpan_; - if (scaledSP > 1.0) { - scaledSP = 1; - } else if (scaledSP < 0.0) { - scaledSP = 0; - } - - float error = scaledSP - scaledPV; - - if (fabs(error) < deadZoneError_) { +float PID::Pid::compute(float setPoint, float processVariable) { + std::lock_guard lock(m_mutex); + float error = setPoint - processVariable; + if (std::abs(error) < m_deadzone) { error = 0; } - // Check and see if the output is pegged at a limit and only - // integrate if it is not. This is to prevent reset-windup. - if (!(prevControllerOutput_ >= 1 && error > 0) && !(prevControllerOutput_ <= 0 && error < 0)) { - accError_ += error; - } - - // Compute the current slope of the input signal. - float dMeas = (scaledPV - prevProcessVariable_) / tSample_.count(); - - float scaledBias = 0.0; - - if (usingFeedForward) { - scaledBias = (bias_ - outMin_) / outSpan_; - } - - // Perform the PID calculation. - controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas)); - - // Make sure the computed output is within output constraints. - if (controllerOutput_ < 0.0) { - controllerOutput_ = 0.0; - } else if (controllerOutput_ > 1.0) { - controllerOutput_ = 1.0; - } - - // Remember this output for the windup check next time. - prevControllerOutput_ = controllerOutput_; - // Remember the input for the derivative calculation next time. - prevProcessVariable_ = scaledPV; - - // Scale the output from percent span back out to a real world number. - return ((controllerOutput_ * outSpan_) + outMin_); -} - -float PID::getInMin() { - return inMin_; -} - -float PID::getInMax() { - return inMax_; -} - -float PID::getOutMin() { - return outMin_; -} - -float PID::getOutMax() { - return outMax_; -} - -std::chrono::duration PID::getInterval() { - return tSample_; -} - -float PID::getPParam() { - return pParam_; -} - -float PID::getIParam() { - return iParam_; -} - -float PID::getDParam() { - return dParam_; -} - -float PID::getATunePParam() { - return autoTuneKc_; -} - -float PID::getATuneIParam() { - return autoTuneTauR_; -} - -float PID::getATuneDParam() { - return autoTuneTauD_; -} + m_timer.stop(); + float dt = chrono::duration_cast>(m_timer.elapsed_time()).count(); // seconds + float paths = computePPath(error); + paths += computeIPath(error, dt); + paths += m_antiKickback ? computeDPathOnPV(error, dt) : computeDPathOnError(processVariable, dt); + paths = std::clamp(paths, static_cast(m_lowerBound), static_cast(m_upperBound)); -float PID::getSetPoint() { - return setPoint_; + m_pastError = error; + m_pastPV = processVariable; + m_timer.reset(); + m_timer.start(); + return paths; } From 5df5f9f42e19113e1c32f140e700ee082708d003 Mon Sep 17 00:00:00 2001 From: younes <52610118+younesr1@users.noreply.github.com> Date: Fri, 1 Jan 2021 19:28:32 -0500 Subject: [PATCH 02/13] Update apps/test-pid/CMakeLists.txt Co-authored-by: Melvin Wang --- apps/test-pid/CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/apps/test-pid/CMakeLists.txt b/apps/test-pid/CMakeLists.txt index 3bb150286..a0fb00a52 100644 --- a/apps/test-pid/CMakeLists.txt +++ b/apps/test-pid/CMakeLists.txt @@ -1,6 +1,7 @@ add_executable(test-pid.${TARGET}-board.elf) target_sources(test-pid.${TARGET}-board.elf PRIVATE src/main.cpp) -target_link_libraries(test-pid.${TARGET}-board.elf PRIVATE PID SimulatedPIDValues) +target_include_directories(test-pid.${TARGET}-board.elf PUBLIC include) +target_link_libraries(test-pid.${TARGET}-board.elf PRIVATE PID) target_set_firmware_properties(test-pid.${TARGET}-board.elf) add_library(SimulatedPIDValues INTERFACE) From 0813d327b0938fbd1a7fe7a726a8915d78d15500 Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Fri, 1 Jan 2021 19:54:38 -0500 Subject: [PATCH 03/13] implemented melvin comments --- lib/pid/src/PID.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/lib/pid/src/PID.cpp b/lib/pid/src/PID.cpp index c742e8a77..36db8052f 100644 --- a/lib/pid/src/PID.cpp +++ b/lib/pid/src/PID.cpp @@ -98,7 +98,7 @@ float PID::Pid::computeDPathOnPV(float processVariable, int64_t dt) { if (dt != 0) { derivativePath = m_DGain * (processVariable - m_pastPV) / dt; } - return derivativePath; + return -derivativePath; } float PID::Pid::compute(float setPoint, float processVariable) { @@ -112,7 +112,7 @@ float PID::Pid::compute(float setPoint, float processVariable) { float dt = chrono::duration_cast>(m_timer.elapsed_time()).count(); // seconds float paths = computePPath(error); paths += computeIPath(error, dt); - paths += m_antiKickback ? computeDPathOnPV(error, dt) : computeDPathOnError(processVariable, dt); + paths += m_antiKickback ? computeDPathOnPV(processVariable, dt) : computeDPathOnError(error, dt); paths = std::clamp(paths, static_cast(m_lowerBound), static_cast(m_upperBound)); m_pastError = error; From c2dd626f329440caf28a1786782e3c5b49f0c7a6 Mon Sep 17 00:00:00 2001 From: younes <52610118+younesr1@users.noreply.github.com> Date: Fri, 1 Jan 2021 20:19:57 -0500 Subject: [PATCH 04/13] Update apps/test-pid/CMakeLists.txt Co-authored-by: Melvin Wang --- apps/test-pid/CMakeLists.txt | 3 --- 1 file changed, 3 deletions(-) diff --git a/apps/test-pid/CMakeLists.txt b/apps/test-pid/CMakeLists.txt index a0fb00a52..529dbe409 100644 --- a/apps/test-pid/CMakeLists.txt +++ b/apps/test-pid/CMakeLists.txt @@ -3,6 +3,3 @@ target_sources(test-pid.${TARGET}-board.elf PRIVATE src/main.cpp) target_include_directories(test-pid.${TARGET}-board.elf PUBLIC include) target_link_libraries(test-pid.${TARGET}-board.elf PRIVATE PID) target_set_firmware_properties(test-pid.${TARGET}-board.elf) - -add_library(SimulatedPIDValues INTERFACE) -target_include_directories(SimulatedPIDValues INTERFACE include) From e0a3838d96d9398ee4411c6b5cf244cee097fd46 Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Sun, 3 Jan 2021 15:13:06 -0500 Subject: [PATCH 05/13] implemented melvin comments --- apps/test-pid/include/control.h | 420 ------ apps/test-pid/include/feedback.h | 458 ------ apps/test-pid/include/setpoint.h | 458 ------ apps/test-pid/include/test_data.h | 1337 ++++++++++++++++++ apps/test-pid/src/main.cpp | 46 +- lib/controllers/include/ActuatorController.h | 4 +- lib/pid/include/PID.h | 41 +- lib/pid/src/PID.cpp | 51 +- 8 files changed, 1412 insertions(+), 1403 deletions(-) delete mode 100644 apps/test-pid/include/control.h delete mode 100644 apps/test-pid/include/feedback.h delete mode 100644 apps/test-pid/include/setpoint.h create mode 100644 apps/test-pid/include/test_data.h diff --git a/apps/test-pid/include/control.h b/apps/test-pid/include/control.h deleted file mode 100644 index 8e7466a6a..000000000 --- a/apps/test-pid/include/control.h +++ /dev/null @@ -1,420 +0,0 @@ -#pragma once -#include -constexpr std::array control = { - 0.0, 0.01537, 0.04646, 0.07826, 0.11076, 0.14395, 0.17784, 0.21242, 0.24768, 2.39472, 0.4845, 1.38464, - 1.06956, 1.48151, 1.39959, 1.55301, 1.5914, 1.68589, 1.75929, 1.93416, 2.0732, 2.23647, 2.39638, 2.56582, - 2.73841, 2.91722, 3.10056, 3.28922, 3.48264, 3.68102, 3.88412, 4.08306, 4.35008, 4.57603, 4.83448, 5.07437, - 5.3323, 5.58129, 5.84171, 1.48249, 6.27048, 1.57048, 6.78629, 1.65753, 7.25479, 1.744, 7.79143, 1.82938, - 8.29004, 16.00342, 11.35566, 5.14683, 2.01619, 2.0833, 2.14908, 2.21362, 2.27701, 2.33934, 2.40069, 2.46112, - 2.52069, 2.57945, 2.63746, 2.69474, 2.75134, 2.8073, 2.86263, 2.91736, 2.97151, 3.02511, 3.07816, 3.13068, - 3.18268, 3.23417, 3.28516, 3.33565, 3.38565, 3.43517, 3.4842, 3.53275, 3.58083, 3.62843, 3.67555, 3.7222, - 3.76837, 3.81407, 3.85929, 3.90405, 3.94833, 3.99213, 4.03547, 4.07834, 4.12073, 4.16266, 4.20413, 4.24513, - 4.28567, 4.32575, 4.36537, 4.40455, 4.44327, 4.48155, 4.5194, 4.55681, 4.59379, 4.63035, 4.6665, 4.70224, - 4.73757, 4.77252, 4.80708, 4.84126, 4.87508, 4.90854, 4.94165, 4.97442, 5.00687, 5.03899, 5.07082, 5.10235, - 5.13359, 5.16456, 5.19528, 5.22575, 5.25598, 5.286, 5.3158, 5.34542, 5.37484, 5.40411, 5.43321, 5.46218, - 5.49101, 5.51974, 5.54836, 5.5769, 5.60536, 5.63376, 5.66212, 5.69045, 5.71876, 5.74706, 5.77537, 5.8037, - 5.83207, 5.86048, 5.88895, 5.9175, 5.94613, 5.97485, 6.00369, 6.03264, 6.06172, 6.09095, 6.12032, 6.14986, - 6.17957, 6.20946, 6.23955, 6.26983, 6.30032, 6.33103, 6.36197, 6.39313, 6.42453, 6.45618, 6.48809, 6.52025, - 6.55267, 6.58536, 6.61832, 6.65156, 6.68508, 6.71888, 6.75297, 6.78734, 6.82201, 6.85697, 6.89222, 6.92777, - 6.96361, 6.99974, 7.03617, 7.07289, 7.1099, 7.1472, 7.18479, 7.22266, 7.26081, 7.29925, 7.33795, 7.37693, - 7.41617, 7.45567, 7.49543, 7.53544, 7.5757, 7.61619, 7.65692, 7.69788, 7.73905, 7.76507, 7.77557, 7.78556, - 7.79505, 7.80401, 7.81246, 7.82039, 7.82779, 7.83466, 7.84101, 7.84682, 7.8521, 7.85684, 7.86106, 7.86474, - 7.86789, 7.87052, 7.87262, 7.87419, 7.87525, 7.87579, 7.87582, 7.87535, 7.87438, 7.87291, 7.87097, 7.86854, - 7.86565, 7.8623, 7.8585, 7.85426, 7.84959, 7.84449, 7.839, 7.8331, 7.82683, 7.82018, 7.81317, 7.80582, - 7.79814, 7.79014, 7.78184, 7.77325, 7.76439, 7.75527, 7.74591, 7.73632, 7.72652, 7.71652, 7.70635, 7.69601, - 7.68552, 7.6749, 7.66417, 7.65334, 7.64243, 7.63145, 7.62042, 7.60936, 7.59828, 7.5872, 7.57613, 7.56509, - 7.5541, 7.54316, 7.5323, 7.52153, 7.51086, 7.50031, 7.48989, 7.47962, 7.46951, 7.45956, 7.4498, 7.44024, - 7.43088, 7.42174, 7.41284, 7.40417, 7.39575, 7.38759, 7.37971, 7.3721, 7.36477, 7.35774, 7.35101, 7.34459, - 7.33848, 7.33269, 7.32722, 7.32209, 7.31729, 7.31283, 7.3087, 7.30493, 7.30149, 7.29841, 7.29567, 7.29328, - 7.29125, 7.28956, 7.28822, 7.28722, 7.28658, 7.28627, 7.28631, 7.28668, 7.28739, 7.28842, 7.28978, 7.29146, - 7.29346, 7.29576, 7.29837, 7.30128, 7.30447, 7.30795, 7.3117, 7.31572, 7.32, 7.32453, 7.3293, 7.3343, - 7.33953, 7.34497, 7.35062, 7.35647, 7.36249, 7.3687, 7.37506, 7.38158, 7.38825, 7.39505, 7.40196, 7.40899, - 7.41612, 7.42334, 7.43064, 7.438, 7.44542, 7.45288, 7.46038, 7.4679, 7.47544, 7.48297, 7.4905, 7.498, - 7.50548, 7.51291, 7.5203, 7.52762, 7.53488, 7.54205, 7.54913, 7.55612, 7.563, 7.56976, 7.5764, 7.5829, - 7.58927, 7.59548, 7.60154, 7.60744, 7.61316, 7.61871, 7.62408, 7.62926, 7.63424, 7.63903, 7.64361, 7.64798, - 7.65213, 7.65607, 7.65979, 7.66329, 7.66656, 7.6696, 7.6724, 7.67498, 7.67732, 7.67942, 7.68129, 7.68291, - 7.6843, 7.68546, 7.68637, 7.68706, 7.6875, 7.68771, 7.6877, 7.68745, 7.68697, 7.68627, 7.68535, 7.68422, - 7.68287, 7.6813, 7.67954, 7.67757, 7.6754, 7.67304, 7.67049, 7.66777, 7.66486, 7.66179, 7.65855, 7.65515, - 7.6516, 7.6479, 7.64407, 7.6401, 7.636, 7.63179, 7.62746, 7.62303, 7.61851, 7.61389, 7.60919, 7.60441, - 7.59957, 7.59466, 7.5897, 7.5847, 7.57966, 7.57458, 7.56949, 7.56438, 7.55926, 7.55413, 7.54902, 7.54392, - 7.53883, 7.53378, 7.52876, 7.52378, 7.51885, 7.51397, 7.50915, 7.5044, 7.49973, 7.49513, 7.49061, 7.48619, - 7.48186, 7.47763, 7.47351, 7.4695, 7.46561, 7.46183, 7.45818, 7.45466, 7.45127, 7.44801, 7.4449, 7.44192, - 7.43909, 7.43641, 7.43388, 7.4315, 7.42927, 7.4272, 7.42529, 7.42354, 7.42195, 7.42051, 7.41924, 7.41813, - 7.41718, 7.41639, 7.41577, 7.4153, 7.41499, 7.41484, 7.41485, 7.41502, 7.41534, 7.41581, 7.41643, 7.4172, - 7.41812, 7.41917, 7.42037, 7.42171, 7.42318, 7.42478, 7.42651, 7.42836, 7.43033, 7.43242, 7.43461, 7.43692, - 7.43933, 7.44184, 7.44445, 7.44714, 7.44993, 7.45279, 7.45573, 7.45874, 7.46181, 7.44958, 7.42168, 7.39313, - 7.36393, 7.33406, 7.30354, 7.27237, 7.24053, 7.20804, 7.1749, 7.1411, 7.10666, 7.07156, 7.03583, 6.99946, - 6.96247, 6.92484, 6.8866, 6.84775, 6.80831, 6.76827, 6.72764, 6.68645, 6.64469, 6.60239, 6.55955, 6.51619, - 6.47232, 6.42795, 6.3831, 6.33778, 6.29202, 6.24581, 6.19919, 6.15217, 6.10476, 6.05699, 6.00887, 5.96041, - 5.91165, 5.86259, 5.81325, 5.76366, 5.71383, 5.66379, 5.61355, 5.56313, 5.51256, 5.46185, 5.41102, 5.36009, - 5.30908, 5.25802, 5.20691, 5.15579, 5.10466, 5.05356, 5.00249, 4.95148, 4.90054, 4.8497, 4.79897, 4.74836, - 4.6979, 4.6476, 4.59748, 4.54756, 4.49785, 4.44836, 4.39911, 4.35012, 4.30139, 4.25295, 4.2048, 4.15695, - 4.10943, 4.06223, 4.01537, 3.96886, 3.92271, 3.87693, 3.83153, 3.7865, 3.74187, 3.69763, 3.6538, 3.61037, - 3.56736, 3.52476, 3.48258, 3.44082, 3.39948, 3.35857, 3.31809, 3.27803, 3.23839, 3.19918, 3.1604, 3.12203, - 3.08408, 3.04654, 3.00942, 2.9727, 2.93638, 2.90046, 2.86492, 2.82977, 2.795, 2.76059, 2.72654, 2.69285, - 2.6595, 2.62648, 2.59379, 2.56141, 2.52934, 2.49756, 2.46606, 2.43483, 2.40387, 2.37315, 2.34267, 2.31241, - 2.28236, 2.25251, 2.22285, 2.19336, 2.16403, 2.13485, 2.1058, 2.07688, 2.04805, 2.01933, 1.99068, 1.9621, - 1.93357, 1.90508, 1.87662, 1.84817, 1.81972, 1.79126, 1.76277, 1.73425, 1.70567, 1.67703, 1.64832, 1.61952, - 1.59062, 1.56161, 1.53248, 1.50322, 1.47381, 1.44425, 1.41453, 1.38464, 1.35456, 1.32429, 1.29382, 1.26315, - 1.23226, 1.20114, 1.1698, 1.13821, 1.10639, 1.07431, 1.04198, 1.00939, 0.97653, 0.9434, 0.91, 0.87633, - 0.84237, 0.80813, 0.77361, 0.7388, 0.7037, 0.66831, 0.63263, 0.59667, 0.56041, 0.52387, 0.48704, 0.44992, - 0.41252, 0.37484, 0.33688, 0.29865, 0.26014, 0.22136, 0.18232, 0.14301, 0.10346, 0.06365, 0.02359, 0.0167, - 0.05723, 0.09798, 0.13895, 0.18014, 0.22154, 0.24776, 0.25846, 0.26864, 0.27829, 0.28741, 0.296, 0.30405, - 0.31157, 0.31854, 0.32497, 0.33085, 0.33619, 0.34098, 0.34523, 0.34893, 0.35209, 0.3547, 0.35678, 0.35831, - 0.35932, 0.3598, 0.35976, 0.3592, 0.35813, 0.35656, 0.35449, 0.35193, 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0.11001, 0.10574, 0.10136, 0.09687, 0.09229, 0.08762, 0.08287, 0.07805, - 0.07316, 0.06821, 0.06321, 0.05817, 0.05309, 0.04798, 0.04285, 0.03771, 0.03256, 0.02741, 0.02227, 0.01715, - 0.01205, 0.00698, 0.00194, 0.00305, 0.00799, 0.01288, 0.0177, 0.02245, 0.02713, 0.03173, 0.03624, 0.04065, - 0.04497, 0.04919, 0.0533, 0.05729, 0.06117, 0.06493, 0.06856, 0.07206, 0.07542, 0.07865, 0.08174, 0.08469, - 0.08749, 0.09013, 0.09263, 0.09498, 0.09716, 0.0992, 0.10107, 0.10278, 0.10433, 0.10572, 0.10695, 0.10802, - 0.10892, 0.10966, 0.11024, 0.11066, 0.11092, 0.11102, 0.11096, 0.11074, 0.11038, 0.10985, 0.10918, 0.10836, - 0.1074, 0.10629, 0.10504, 0.10366, 0.10214, 0.10049, 0.09871, 0.09681, 0.09479, 0.09266, 0.09041, 0.08806, - 0.08561, 0.08305, 0.0804, 0.07767, 0.07485, 0.07194, 0.06897, 0.06592, 0.06281}; \ No newline at end of file diff --git a/apps/test-pid/include/feedback.h b/apps/test-pid/include/feedback.h deleted file mode 100644 index 599790c57..000000000 --- a/apps/test-pid/include/feedback.h +++ /dev/null @@ -1,458 +0,0 @@ -#pragma once -#include -constexpr std::array feedback = { - 0.0, 0.0, 1.9, 9.86, 2.88, 6.45, 0.00012, 0.00021, 0.00034, 0.00051, 0.00075, - 0.00107, 0.00147, 0.00196, 0.00255, 0.00325, 0.00408, 0.00504, 0.00615, 0.00741, 0.00885, 0.01048, - 0.01233, 0.01439, 0.01671, 0.01928, 0.02213, 0.02528, 0.02875, 0.03255, 0.0367, 0.04138, 0.04659, - 0.05235, 0.05869, 0.06561, 0.07313, 0.08128, 0.09005, 0.0996, 0.1094, 0.12003, 0.13092, 0.14269, - 0.15474, 0.16773, 0.181, 0.19526, 0.20982, 0.22534, 0.24181, 0.25923, 0.27726, 0.29558, 0.31422, - 0.33323, 0.35263, 0.37247, 0.39277, 0.41356, 0.43488, 0.45675, 0.47918, 0.50222, 0.52587, 0.55015, - 0.5751, 0.60072, 0.62702, 0.65404, 0.68177, 0.71024, 0.73946, 0.76943, 0.80017, 0.83169, 0.864, - 0.8971, 0.931, 0.96571, 1.00124, 1.03759, 1.07476, 1.11275, 1.15158, 1.19124, 1.23174, 1.27307, - 1.31524, 1.35824, 1.40208, 1.44675, 1.49226, 1.5386, 1.58576, 1.63375, 1.68256, 1.73218, 1.78262, - 1.83386, 1.8859, 1.93874, 1.99236, 2.04677, 2.10195, 2.1579, 2.21461, 2.27207, 2.33027, 2.3892, - 2.44886, 2.50924, 2.57032, 2.6321, 2.69457, 2.75771, 2.82152, 2.88599, 2.9511, 3.01685, 3.08322, - 3.1502, 3.21779, 3.28597, 3.35473, 3.42406, 3.49395, 3.56439, 3.63537, 3.70687, 3.77889, 3.85141, - 3.92442, 3.99792, 4.0719, 4.14633, 4.22122, 4.29655, 4.37232, 4.44851, 4.52511, 4.60211, 4.67952, - 4.7573, 4.83547, 4.91401, 4.99291, 5.07216, 5.15176, 5.2317, 5.31197, 5.39257, 5.47348, 5.55471, - 5.63625, 5.71809, 5.80023, 5.88266, 5.96538, 6.04839, 6.13167, 6.21524, 6.29907, 6.38318, 6.46756, - 6.55221, 6.63712, 6.7223, 6.80774, 6.89344, 6.97941, 7.06564, 7.15213, 7.23889, 7.32591, 7.4132, - 7.50075, 7.58858, 7.67668, 7.76506, 7.85371, 7.94265, 8.03187, 8.12138, 8.21118, 8.30128, 8.39169, - 8.4824, 8.57342, 8.66475, 8.75641, 8.8484, 8.94072, 9.03338, 9.12639, 9.21974, 9.31346, 9.40754, - 9.502, 9.59683, 9.69205, 9.78766, 9.88367, 9.98008, 10.0769, 10.17412, 10.27175, 10.36979, 10.46823, - 10.56707, 10.66633, 10.76598, 10.86603, 10.96648, 11.06732, 11.16855, 11.27016, 11.37215, 11.47451, 11.57724, - 11.68032, 11.78376, 11.88753, 11.99165, 12.09608, 12.20084, 12.3059, 12.41125, 12.5169, 12.62282, 12.72901, - 12.83545, 12.94213, 13.04905, 13.15618, 13.26353, 13.37107, 13.47879, 13.58668, 13.69474, 13.80293, 13.91126, - 14.01971, 14.12827, 14.23691, 14.34564, 14.45444, 14.56329, 14.67218, 14.7811, 14.89003, 14.99897, 15.1079, - 15.21681, 15.32568, 15.4345, 15.54327, 15.65196, 15.76057, 15.86909, 15.9775, 16.0858, 16.19397, 16.302, - 16.40989, 16.51762, 16.62518, 16.73257, 16.83977, 16.94678, 17.05359, 17.16019, 17.26658, 17.37274, 17.47867, - 17.58437, 17.68982, 17.79503, 17.89998, 18.00468, 18.10911, 18.21328, 18.31718, 18.42081, 18.52417, 18.62725, - 18.73004, 18.83256, 18.9348, 19.03676, 19.13843, 19.23983, 19.34094, 19.44177, 19.54232, 19.6426, 19.7426, - 19.84233, 19.9418, 20.04099, 20.13992, 20.2386, 20.33702, 20.43519, 20.53311, 20.6308, 20.72825, 20.82547, - 20.92247, 21.01925, 21.11583, 21.2122, 21.30837, 21.40436, 21.50016, 21.59579, 21.69126, 21.78657, 21.88172, - 21.97674, 22.07162, 22.16638, 22.26102, 22.35555, 22.44998, 22.54432, 22.63859, 22.73277, 22.8269, 22.92097, - 23.01499, 23.10898, 23.20294, 23.29687, 23.3908, 23.48473, 23.57866, 23.67261, 23.76658, 23.86058, 23.95462, - 24.04871, 24.14285, 24.23706, 24.33134, 24.4257, 24.52015, 24.61468, 24.70932, 24.80407, 24.89892, 24.9939, - 25.089, 25.18423, 25.2796, 25.37511, 25.47076, 25.56657, 25.66254, 25.75866, 25.85495, 25.95141, 26.04804, - 26.14484, 26.24182, 26.33898, 26.43633, 26.53386, 26.63157, 26.72947, 26.82757, 26.92585, 27.02433, 27.12299, - 27.22185, 27.3209, 27.42014, 27.51957, 27.61918, 27.71899, 27.81899, 27.91917, 28.01953, 28.12007, 28.22079, - 28.32169, 28.42276, 28.524, 28.62541, 28.72698, 28.8287, 28.93059, 29.03263, 29.13481, 29.23713, 29.3396, - 29.44219, 29.54492, 29.64777, 29.75073, 29.85381, 29.957, 30.06029, 30.16368, 30.26716, 30.37072, 30.47436, - 30.57807, 30.68186, 30.7857, 30.8896, 30.99355, 31.09754, 31.20157, 31.30563, 31.40972, 31.51383, 31.61795, - 31.72208, 31.8262, 31.93033, 32.03444, 32.13854, 32.24262, 32.34667, 32.45069, 32.55467, 32.65861, 32.7625, - 32.86633, 32.97011, 33.07383, 33.17747, 33.28105, 33.38455, 33.48796, 33.5913, 33.69454, 33.79769, 33.90074, - 34.0037, 34.10655, 34.2093, 34.31193, 34.41446, 34.51687, 34.61916, 34.72134, 34.82339, 34.92533, 35.02713, - 35.12882, 35.23037, 35.3318, 35.4331, 35.53427, 35.63531, 35.73622, 35.837, 35.93765, 36.03817, 36.13856, - 36.23882, 36.33896, 36.43896, 36.53884, 36.6386, 36.73824, 36.83775, 36.93714, 37.03642, 37.13558, 37.23462, - 37.33356, 37.43238, 37.53111, 37.62972, 37.72824, 37.82667, 37.92499, 38.02323, 38.12138, 38.21944, 38.31743, - 38.41534, 38.51317, 38.61094, 38.70864, 38.80628, 38.90386, 39.00138, 39.09886, 39.19629, 39.29368, 39.39103, - 39.48834, 39.58563, 39.68289, 39.78013, 39.87735, 39.97456, 40.07176, 40.16895, 40.26614, 40.36332, 40.46048, - 40.55764, 40.65478, 40.7519, 40.84899, 40.94606, 41.04309, 41.14007, 41.23701, 41.33389, 41.43071, 41.52745, - 41.62411, 41.72067, 41.81712, 41.91346, 42.00967, 42.10575, 42.20167, 42.29742, 42.393, 42.48838, 42.58356, - 42.67852, 42.77325, 42.86773, 42.96194, 43.05588, 43.14952, 43.24285, 43.33585, 43.42852, 43.52083, 43.61276, - 43.70431, 43.79546, 43.88618, 43.97647, 44.06631, 44.15568, 44.24456, 44.33295, 44.42082, 44.50817, 44.59497, - 44.68121, 44.76688, 44.85196, 44.93644, 45.0203, 45.10354, 45.18613, 45.26806, 45.34933, 45.42991, 45.50981, - 45.589, 45.66747, 45.74522, 45.82223, 45.8985, 45.97401, 46.04876, 46.12273, 46.19593, 46.26833, 46.33994, - 46.41075, 46.48075, 46.54993, 46.6183, 46.68584, 46.75255, 46.81844, 46.88348, 46.94769, 47.01106, 47.07359, - 47.13528, 47.19612, 47.25613, 47.31528, 47.3736, 47.43107, 47.48771, 47.54351, 47.59847, 47.65261, 47.70591, - 47.75839, 47.81006, 47.86091, 47.91095, 47.96018, 48.00862, 48.05627, 48.10313, 48.14921, 48.19453, 48.23908, - 48.28288, 48.32593, 48.36824, 48.40983, 48.45069, 48.49085, 48.5303, 48.56906, 48.60714, 48.64455, 48.6813, - 48.71739, 48.75285, 48.78767, 48.82188, 48.85548, 48.88847, 48.92089, 48.95272, 48.98399, 49.0147, 49.04487, - 49.07451, 49.10362, 49.13223, 49.16033, 49.18794, 49.21507, 49.24172, 49.26792, 49.29367, 49.31898, 49.34386, - 49.36831, 49.39235, 49.41599, 49.43924, 49.4621, 49.48458, 49.50669, 49.52845, 49.54984, 49.57089, 49.5916, - 49.61198, 49.63203, 49.65176, 49.67118, 49.69028, 49.70909, 49.72759, 49.7458, 49.76372, 49.78135, 49.79869, - 49.81576, 49.83255, 49.84907, 49.86531, 49.88129, 49.89699, 49.91243, 49.9276, 49.9425, 49.95713, 49.9715, - 49.9856, 49.99943, 50.013, 50.02629, 50.03931, 50.05205, 50.06452, 50.07671, 50.08861, 50.10023, 50.11156, - 50.12259, 50.13333, 50.14376, 50.15389, 50.16371, 50.17321, 50.18239, 50.19124, 50.19976, 50.20795, 50.21578, - 50.22327, 50.2304, 50.23717, 50.24357, 50.24959, 50.25523, 50.26048, 50.26533, 50.26978, 50.27381, 50.27744, - 50.28065, 50.28344, 50.28582, 50.28778, 50.28932, 50.29044, 50.29115, 50.29145, 50.29134, 50.29082, 50.2899, - 50.28858, 50.28688, 50.28478, 50.2823, 50.27945, 50.27624, 50.27266, 50.26874, 50.26447, 50.25987, 50.25495, - 50.24971, 50.24417, 50.23834, 50.23222, 50.22583, 50.21918, 50.21229, 50.20516, 50.1978, 50.19024, 50.18247, - 50.17452, 50.16639, 50.15811, 50.14968, 50.14111, 50.13242, 50.12363, 50.11474, 50.10577, 50.09674, 50.08765, - 50.07852, 50.06936, 50.06019, 50.05101, 50.04185, 50.03272, 50.02362, 50.01457, 50.00559, 49.99667, 49.98785, - 49.97912, 49.9705, 49.96201, 49.95364, 49.94541, 49.93734, 49.92943, 49.9217, 49.91414, 49.90678, 49.89961, - 49.89265, 49.88591, 49.87939, 49.87309, 49.86704, 49.86123, 49.85567, 49.85036, 49.84531, 49.84053, 49.83602, - 49.83178, 49.82781, 49.82413, 49.82073, 49.81761, 49.81478, 49.81223, 49.80998, 49.80801, 49.80633, 49.80494, - 49.80384, 49.80303, 49.8025, 49.80225, 49.80229, 49.80261, 49.8032, 49.80407, 49.8052, 49.8066, 49.80826, - 49.81017, 49.81234, 49.81475, 49.8174, 49.82028, 49.82339, 49.82672, 49.83027, 49.83402, 49.83797, 49.84212, - 49.84645, 49.85096, 49.85564, 49.86048, 49.86547, 49.87061, 49.87588, 49.88128, 49.88679, 49.89242, 49.89815, - 49.90397, 49.90987, 49.91584, 49.92188, 49.92797, 49.93411, 49.94029, 49.9465, 49.95272, 49.95895, 49.96519, - 49.97141, 49.97762, 49.98381, 49.98996, 49.99607, 50.00212, 50.00812, 50.01406, 50.01992, 50.02569, 50.03138, - 50.03698, 50.04246, 50.04784, 50.05311, 50.05824, 50.06325, 50.06813, 50.07286, 50.07745, 50.08188, 50.08616, - 50.09028, 50.09424, 50.09802, 50.10163, 50.10507, 50.10832, 50.11139, 50.11428, 50.11698, 50.11949, 50.12181, - 50.12393, 50.12586, 50.12759, 50.12913, 50.13047, 50.13162, 50.13257, 50.13332, 50.13388, 50.13424, 50.13441, - 50.13439, 50.13418, 50.13378, 50.1332, 50.13243, 50.13149, 50.13036, 50.12907, 50.1276, 50.12596, 50.12417, - 50.12221, 50.1201, 50.11784, 50.11543, 50.11288, 50.1102, 50.10738, 50.10444, 50.10138, 50.0982, 50.09492, - 50.09153, 50.08804, 50.08446, 50.08079, 50.07704, 50.07322, 50.06932, 50.06537, 50.06136, 50.0573, 50.0532, - 50.04906, 50.04488, 50.04069, 50.03647, 50.03224, 50.028, 50.02376, 50.01953, 50.01531, 50.01111, 50.00692, - 50.00277, 49.99865, 49.99457, 49.99054, 49.98655, 49.98263, 49.97876, 49.97496, 49.97122, 49.96756, 49.96399, - 49.96049, 49.95708, 49.95377, 49.95055, 49.94743, 49.94441, 49.9415, 49.9387, 49.93601, 49.93343, 49.93097, - 49.92864, 49.92642, 49.92433, 49.92236, 49.92053, 49.91882, 49.91724, 49.91579, 49.91448, 49.9133, 49.91225, - 49.91133, 49.91055, 49.9099, 49.90939, 49.90901, 49.90876, 49.90864, 49.90865, 49.90879, 49.90906, 49.90945, - 49.90997, 49.91061, 49.91137, 49.91225, 49.91324, 49.91435, 49.91557, 49.9169, 49.91833, 49.91986, 49.9215, - 49.92323, 49.92505, 49.92696, 49.92896, 49.93104, 49.9332, 49.93543, 49.93773, 49.9401, 49.94253, 49.94503, - 49.94757, 49.95017, 49.95281, 49.9555, 49.95823, 49.96099, 49.96377, 49.96659, 49.96942, 49.97228, 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0.13163, 0.13158, 0.13135, - 0.13093, 0.13033, 0.12956, 0.1286, 0.12748, 0.12618, 0.12472, 0.1231, 0.12131, 0.11937, 0.11728, - 0.11505, 0.11267, 0.11015, 0.10751, 0.10473, 0.10183, 0.09882, 0.09569, 0.09245, 0.08912, 0.08569, - 0.08217, 0.07856, 0.07488, 0.07113, 0.06731, 0.06343, 0.05949, 0.05551, 0.05148, 0.04742, 0.04333, - 0.03922, 0.03509, 0.03094, 0.0268, 0.02265, 0.0185, 0.01437, 0.01026, 0.00617, 0.0021, 0.00192, - 0.00591, 0.00986, 0.01375, 0.01759, 0.02137, 0.02508, 0.02873, 0.0323, 0.03579, 0.0392, 0.04252, - 0.04575, 0.04889, 0.05193, 0.05487, 0.05771, 0.06044, 0.06305, 0.06556, 0.06795, 0.07022, 0.07237, - 0.0744, 0.07631, 0.07809, 0.07974, 0.08127, 0.08266, 0.08393, 0.08507, 0.08608, 0.08695, 0.0877, - 0.08831, 0.0888, 0.08915, 0.08938, 0.08947, 0.08944, 0.08929, 0.08901, 0.0886, 0.08808, 0.08743, - 0.08667, 0.08579, 0.0848, 0.0837, 0.08249, 0.08117, 0.07976, 0.07824, 0.07662, 0.07492, 0.07312, - 0.07123, 0.06927, 0.06722, 0.06509, 0.0629, 0.06063, 0.0583, 0.05591, 0.05346, 0.05096, 0.04841, - 0.04581, 0.04318, 0.0405, 0.0378, 0.03506, 0.0323, 0.02952, 0.02673, 0.02392, 0.0211, 0.01829, - 0.01549, 0.01271, 0.00996, 0.00725, 0.0046, 0.00201, 0.0005, 0.00292, 0.00524, 0.00743, 0.00949, - 0.0114, 0.01315, 0.01471, 0.01608, 0.01724, 0.01816, 0.01884, 0.01926, 0.01939, 0.01922, 0.01874, - 0.01792, 0.01675, 0.01521, 0.01328, 0.01094, 0.00818, 0.00498, 0.00132, 0.00282, 0.00746, 0.01261, - 0.01828, 0.02451, 0.0313, 0.03867, 0.04664, 0.05522, 0.06443, 0.07429, 0.0848, 0.09599, 0.10787, - 0.12045, 0.13374, 0.14777, 0.16254, 0.17806, 0.19434, 0.21141, 0.22926, 0.24791, 0.26737, 0.28765, - 0.30875, 0.33069, 0.35347, 0.37709, 0.40157, 0.42692, 0.45313, 0.48021, 0.50817, 0.53701, 0.56673, - 0.59733, 0.62882, 0.6612, 0.69447, 0.72863, 0.76368, 0.79962, 0.83644, 0.87415, 0.91274, 0.95222, - 0.99257, 1.03379, 1.07588, 1.11883, 1.16264, 1.20731, 1.25282, 1.29917, 1.34635, 1.39435, 1.44317, - 1.4928, 1.54323, 1.59445, 1.64645, 1.69922, 1.75276, 1.80704, 1.86207, 1.91783, 1.9743, 2.03149, - 2.08937, 2.14794, 2.20718, 2.26708, 2.32763, 2.38882, 2.45063, 2.51306, 2.57609, 2.63971, 2.70391, - 2.76867, 2.83398, 2.89984, 2.96622, 3.03311, 3.10051, 3.16841, 3.23678, 3.30562, 3.37492, 3.44466, - 3.51484, 3.58544, 3.65645, 3.72787, 3.79967, 3.87186, 3.94443, 4.01735, 4.09063, 4.16425, 4.23821, - 4.31249, 4.3871, 4.46202, 4.53724, 4.61276, 4.68857, 4.76466, 4.84103, 4.91768, 4.99459, 5.07177, - 5.1492, 5.22689, 5.30483, 5.38302, 5.46146, 5.54013, 5.61905, 5.6982, 5.77759, 5.85721, 5.93708, - 6.01717, 6.09751, 6.17807, 6.25888, 6.33992, 6.4212, 6.50273, 6.58449, 6.66651, 6.74877, 6.83129, - 6.91406, 6.9971, 7.0804, 7.16397, 7.24781, 7.33193, 7.41634, 7.50104, 7.58603, 7.67133, 7.75693, - 7.84285, 7.92909, 8.01566, 8.10257, 8.18982, 8.27742, 8.36538, 8.45371, 8.54241, 8.63149, 8.72096, - 8.81083, 8.9011, 8.99179, 9.0829, 9.17444, 9.26642, 9.35885, 9.45174, 9.54509, 9.63891, 9.73322, - 9.82801, 9.92329, 10.01906, 10.11534, 10.21211, 10.30938, 10.40715, 10.50541, 10.60418, 10.70344, 10.80318, - 10.90342, 11.00414, 11.10534, 11.20701, 11.30915, 11.41174, 11.51479, 11.61828, 11.72221, 11.82656, 11.93132, - 12.03649, 12.14206, 12.248, 12.35432, 12.461, 12.56802, 12.67538, 12.78305, 12.89103, 12.99931, 13.10786, - 13.21667, 13.32573, 13.43503, 13.54454, 13.65426, 13.76416, 13.87424, 13.98447, 14.09484, 14.20533, 14.31593, - 14.42663, 14.5374, 14.64823, 14.75911, 14.87001, 14.98093, 15.09184, 15.20274, 15.3136, 15.42442, 15.53517, - 15.64585, 15.75643, 15.86691, 15.97726, 16.08749, 16.19757, 16.30748, 16.41723, 16.52679, 16.63616, 16.74531, - 16.85425, 16.96296, 17.07144, 17.17966, 17.28762, 17.39532, 17.50274, 17.60987, 17.71672, 17.82327, 17.92951, - 18.03544, 18.14106, 18.24635, 18.35132, 18.45596, 18.56027, 18.66423, 18.76786, 18.87115, 18.9741, 19.0767, - 19.17896, 19.28088, 19.38245, 19.48367, 19.58456, 19.68511, 19.78532, 19.8852, 19.98474, 20.08396, 20.18285, - 20.28143, 20.37969, 20.47764, 20.57529, 20.67264, 20.7697, 20.86648, 20.96299, 21.05922, 21.15519, 21.25091, - 21.34639, 21.44163, 21.53664, 21.63143, 21.72602, 21.8204, 21.9146, 22.00861, 22.10246, 22.19615, 22.28969, - 22.38309, 22.47636, 22.56952, 22.66257, 22.75553, 22.8484, 22.94119, 23.03392, 23.12661, 23.21925, 23.31185, - 23.40444, 23.49702, 23.58961, 23.6822, 23.77481, 23.86746, 23.96015, 24.0529, 24.1457, 24.23858, 24.33154, - 24.42458, 24.51773, 24.61099, 24.70436, 24.79786, 24.89149, 24.98526, 25.07918, 25.17326, 25.2675, 25.3619, - 25.45649, 25.55125, 25.6462, 25.74135, 25.83669, 25.93223, 26.02799, 26.12395, 26.22013, 26.31652, 26.41314, - 26.50998, 26.60705, 26.70435, 26.80187, 26.89963, 26.99762, 27.09585, 27.19431, 27.293, 27.39193, 27.49109, - 27.59048, 27.6901, 27.78995, 27.89003, 27.99034, 28.09086, 28.19161, 28.29257, 28.39375, 28.49514, 28.59673, - 28.69853, 28.80052, 28.9027, 29.00508, 29.10763, 29.21037, 29.31327, 29.41634, 29.51958, 29.62296, 29.7265, - 29.83018, 29.93399, 30.03793, 30.142, 30.24617, 30.35046, 30.45485, 30.55933, 30.66391, 30.76856, 30.87328, - 30.97807, 31.08291, 31.18781, 31.29274, 31.39772, 31.50272, 31.60774, 31.71278, 31.81782, 31.92287, 32.0279, - 32.13292, 32.23792, 32.34289, 32.44782, 32.55271, 32.65756, 32.76235, 32.86707, 32.97173, 33.07632, 33.18082, - 33.28525, 33.38958, 33.49381, 33.59795, 33.70198, 33.8059, 33.9097, 34.01339, 34.11695, 34.22038, 34.32369, - 34.42686, 34.52989, 34.63278, 34.73553, 34.83813, 34.94058, 35.04288, 35.14503, 35.24703, 35.34887, 35.45056, - 35.55208, 35.65345, 35.75466, 35.85571, 35.95661, 36.05734, 36.15791, 36.25833, 36.35859, 36.4587, 36.55865, - 36.65844, 36.75809, 36.85758, 36.95693, 37.05614, 37.1552, 37.25412, 37.3529, 37.45155, 37.55007, 37.64846, - 37.74672, 37.84487, 37.94289, 38.04081, 38.13861, 38.23631, 38.33391, 38.43142, 38.52883, 38.62615, 38.72339, - 38.82055, 38.91764, 39.01465, 39.11161, 39.2085, 39.30534, 39.40213, 39.49888, 39.59559, 39.69226, 39.78891, - 39.88552, 39.98212, 40.07871, 40.17529, 40.27185, 40.3684, 40.46494, 40.56147, 40.65799, 40.75448, 40.85095, - 40.9474, 41.04382, 41.14019, 41.23653, 41.33281, 41.42903, 41.52519, 41.62127, 41.71726, 41.81316, 41.90895, - 42.00463, 42.10018, 42.19559, 42.29085, 42.38594, 42.48086, 42.57558, 42.67011, 42.76441, 42.85848, 42.95231, - 43.04587, 43.13915, 43.23215, 43.32484, 43.4172, 43.50923, 43.6009, 43.69221, 43.78313, 43.87365, 43.96375, - 44.05342, 44.14265, 44.23141, 44.31969, 44.40748, 44.49476, 44.58151, 44.66773, 44.75339, 44.83848, 44.92299, - 45.0069, 45.0902, 45.17287, 45.25491, 45.3363, 45.41702, 45.49707, 45.57643, 45.65509, 45.73305, 45.81028, - 45.88678, 45.96254, 46.03755, 46.1118, 46.18528, 46.25798, 46.32991, 46.40104, 46.47137, 46.5409, 46.60962, - 46.67753, 46.74461, 46.81088, 46.87631, 46.94091, 47.00468, 47.06762, 47.12972, 47.19097, 47.25139, 47.31097, - 47.36971, 47.42761, 47.48467, 47.54089, 47.59628, 47.65084, 47.70457, 47.75747, 47.80955, 47.86082, 47.91127, - 47.96091, 48.00975, 48.0578, 48.10505, 48.15152, 48.19721, 48.24214, 48.2863, 48.32971, 48.37237, 48.41429, - 48.45548, 48.49596, 48.53572, 48.57478, 48.61314, 48.65083, 48.68784, 48.72419, 48.75989, 48.79494, 48.82936, - 48.86316, 48.89635, 48.92894, 48.96094, 48.99236, 49.02322, 49.05351, 49.08326, 49.11248, 49.14116, 49.16934, - 49.19701, 49.22418, 49.25087, 49.27709, 49.30284, 49.32814, 49.353, 49.37742, 49.40142, 49.425, 49.44818, - 49.47096, 49.49335, 49.51535, 49.53699, 49.55826, 49.57917, 49.59973, 49.61995, 49.63983, 49.65939, 49.67861, - 49.69753, 49.71612, 49.73441, 49.7524, 49.77009, 49.78749, 49.8046, 49.82142, 49.83796, 49.85422, 49.8702, - 49.8859, 49.90133, 49.9165, 49.93139, 49.94601, 49.96036, 49.97444, 49.98825, 50.0018, 50.01507, 50.02807, - 50.0408, 50.05326, 50.06544, 50.07734, 50.08896, 50.1003, 50.11134, 50.1221, 50.13257, 50.14273, 50.15259, - 50.16215, 50.17139, 50.18032, 50.18892, 50.1972, 50.20515, 50.21276, 50.22002, 50.22694, 50.23349, 50.23969, - 50.24551, 50.25097, 50.25603, 50.26071, 50.265, 50.26888, 50.27235, 50.27543, 50.27809, 50.28034, 50.28219, - 50.28363, 50.28466, 50.28528, 50.2855, 50.28532, 50.28475, 50.28378, 50.28242, 50.28068, 50.27856, 50.27607, - 50.27322, 50.27001, 50.26645, 50.26254, 50.25831, 50.25374, 50.24887, 50.24369, 50.23821, 50.23245, 50.22641, - 50.22011, 50.21356, 50.20676, 50.19974, 50.1925, 50.18505, 50.17741, 50.16959, 50.16161, 50.15347, 50.14518, - 50.13677, 50.12824, 50.11961, 50.11089, 50.1021, 50.09323, 50.08432, 50.07538, 50.0664, 50.05742, 50.04843, - 50.03946, 50.03052, 50.02162, 50.01276, 50.00397, 49.99526, 49.98663, 49.9781, 49.96968, 49.96137, 49.9532, - 49.94517, 49.93729, 49.92957, 49.92202, 49.91466, 49.90747, 49.90049, 49.89371, 49.88714, 49.88079, 49.87467, - 49.86878, 49.86313, 49.85772, 49.85257, 49.84767, 49.84303, 49.83865, 49.83454, 49.83071, 49.82715, 49.82386, - 49.82085, 49.81813, 49.81568, 49.81352, 49.81164, 49.81005, 49.80874, 49.80771, 49.80696, 49.80649, 49.8063, - 49.80638, 49.80674, 49.80736, 49.80825, 49.80941, 49.81082, 49.81249, 49.81441, 49.81657, 49.81897, 49.82161, - 49.82447, 49.82755, 49.83085, 49.83436, 49.83807, 49.84198, 49.84607, 49.85034, 49.85479, 49.8594, 49.86416, - 49.86908, 49.87413, 49.87932, 49.88463, 49.89005, 49.89558, 49.9012, 49.90692, 49.91271, 49.91857, 49.9245, - 49.93048, 49.9365, 49.94255, 49.94863, 49.95473, 49.96084, 49.96694, 49.97304, 49.97912, 49.98517, 49.99119, - 49.99716, 50.00309, 50.00896, 50.01476, 50.02048, 50.02613, 50.03168, 50.03714, 50.0425, 50.04775, 50.05288, - 50.0579, 50.06278, 50.06753, 50.07215, 50.07661, 50.08093, 50.0851, 50.08911, 50.09295, 50.09663, 50.10014, - 50.10347, 50.10663, 50.10961, 50.1124, 50.11501, 50.11744, 50.11968, 50.12173, 50.12358, 50.12525, 50.12672, - 50.128, 50.12909, 50.12999, 50.13069, 50.13121, 50.13153, 50.13167, 50.13161, 50.13138, 50.13095, 50.13035, - 50.12957, 50.12861, 50.12748, 50.12619, 50.12472, 50.12309, 50.1213, 50.11936, 50.11727, 50.11503, 50.11265, - 50.11013, 50.10748, 50.1047, 50.1018, 50.09878, 50.09565, 50.09241, 50.08907, 50.08564, 50.08212, 50.07851, - 50.07482, 50.07107, 50.06725, 50.06336, 50.05943, 50.05544, 50.05142, 50.04735, 50.04326, 50.03915, 50.03501, - 50.03087, 50.02672, 50.02257, 50.01842, 50.01429, 50.01018, 50.00609, 50.00202, 49.99799, 49.99401, 49.99006, - 49.98617, 49.98233, 49.97855, 49.97484, 49.9712, 49.96763, 49.96413, 49.96072, 49.9574, 49.95417, 49.95103, - 49.94799, 49.94506, 49.94222, 49.9395, 49.93688, 49.93438, 49.93199, 49.92972, 49.92757, 49.92554, 49.92364, - 49.92186, 49.92021, 49.91869, 49.91729, 49.91602, 49.91489, 49.91388, 49.91301, 49.91227, 49.91166, 49.91117, - 49.91082, 49.9106, 49.9105, 49.91054, 49.91069, 49.91098, 49.91138, 49.91191, 49.91256, 49.91332, 49.91421, - 49.9152, 49.9163, 49.91752, 49.91883, 49.92025, 49.92177, 49.92339, 49.9251, 49.9269, 49.92879, 49.93076, - 49.93281, 49.93493, 49.93713, 49.9394, 49.94173, 49.94413, 49.94658, 49.94908, 49.95163, 49.95423, 49.95687, - 49.95954, 49.96225, 49.96499, 49.96775, 49.97053, 49.97332, 49.97613}; \ No newline at end of file diff --git a/apps/test-pid/include/setpoint.h b/apps/test-pid/include/setpoint.h deleted file mode 100644 index 1cb4b4edb..000000000 --- a/apps/test-pid/include/setpoint.h +++ /dev/null @@ -1,458 +0,0 @@ -#pragma once -#include -constexpr std::array setpoint = { - 0.0, 0.00025, 0.001, 0.00225, 0.004, 0.00625, 0.009, 0.01225, 0.016, 0.02025, 0.025, - 0.03025, 0.036, 0.04225, 0.049, 0.05625, 0.064, 0.07225, 0.081, 0.09025, 0.1, 0.11025, - 0.121, 0.13225, 0.144, 0.15625, 0.169, 0.18225, 0.196, 0.21025, 0.225, 0.24025, 0.256, - 0.27225, 0.289, 0.30625, 0.324, 0.34225, 0.361, 0.38025, 0.4, 0.42025, 0.441, 0.46225, - 0.484, 0.50625, 0.529, 0.55225, 0.576, 0.60025, 0.625, 0.65025, 0.676, 0.70225, 0.729, - 0.75625, 0.784, 0.81225, 0.841, 0.87025, 0.9, 0.93025, 0.961, 0.99225, 1.024, 1.05625, - 1.089, 1.12225, 1.156, 1.19025, 1.225, 1.26025, 1.296, 1.33225, 1.369, 1.40625, 1.444, - 1.48225, 1.521, 1.56025, 1.6, 1.64025, 1.681, 1.72225, 1.764, 1.80625, 1.849, 1.89225, - 1.936, 1.98025, 2.025, 2.07025, 2.116, 2.16225, 2.209, 2.25625, 2.304, 2.35225, 2.401, - 2.45025, 2.5, 2.55025, 2.601, 2.65225, 2.704, 2.75625, 2.809, 2.86225, 2.916, 2.97025, - 3.025, 3.08025, 3.136, 3.19225, 3.249, 3.30625, 3.364, 3.42225, 3.481, 3.54025, 3.6, - 3.66025, 3.721, 3.78225, 3.844, 3.90625, 3.969, 4.03225, 4.096, 4.16025, 4.225, 4.29025, - 4.356, 4.42225, 4.489, 4.55625, 4.624, 4.69225, 4.761, 4.83025, 4.9, 4.97025, 5.041, - 5.11225, 5.184, 5.25625, 5.329, 5.40225, 5.476, 5.55025, 5.625, 5.70025, 5.776, 5.85225, - 5.929, 6.00625, 6.084, 6.16225, 6.241, 6.32025, 6.4, 6.48025, 6.561, 6.64225, 6.724, - 6.80625, 6.889, 6.97225, 7.056, 7.14025, 7.225, 7.31025, 7.396, 7.48225, 7.569, 7.65625, - 7.744, 7.83225, 7.921, 8.01025, 8.1, 8.19025, 8.281, 8.37225, 8.464, 8.55625, 8.649, - 8.74225, 8.836, 8.93025, 9.025, 9.12025, 9.216, 9.31225, 9.409, 9.50625, 9.604, 9.70225, - 9.801, 9.90025, 10.0, 10.1, 10.2, 10.3, 10.4, 10.5, 10.6, 10.7, 10.8, - 10.9, 11.0, 11.1, 11.2, 11.3, 11.4, 11.5, 11.6, 11.7, 11.8, 11.9, - 12.0, 12.1, 12.2, 12.3, 12.4, 12.5, 12.6, 12.7, 12.8, 12.9, 13.0, - 13.1, 13.2, 13.3, 13.4, 13.5, 13.6, 13.7, 13.8, 13.9, 14.0, 14.1, - 14.2, 14.3, 14.4, 14.5, 14.6, 14.7, 14.8, 14.9, 15.0, 15.1, 15.2, - 15.3, 15.4, 15.5, 15.6, 15.7, 15.8, 15.9, 16.0, 16.1, 16.2, 16.3, - 16.4, 16.5, 16.6, 16.7, 16.8, 16.9, 17.0, 17.1, 17.2, 17.3, 17.4, - 17.5, 17.6, 17.7, 17.8, 17.9, 18.0, 18.1, 18.2, 18.3, 18.4, 18.5, - 18.6, 18.7, 18.8, 18.9, 19.0, 19.1, 19.2, 19.3, 19.4, 19.5, 19.6, - 19.7, 19.8, 19.9, 20.0, 20.1, 20.2, 20.3, 20.4, 20.5, 20.6, 20.7, - 20.8, 20.9, 21.0, 21.1, 21.2, 21.3, 21.4, 21.5, 21.6, 21.7, 21.8, - 21.9, 22.0, 22.1, 22.2, 22.3, 22.4, 22.5, 22.6, 22.7, 22.8, 22.9, - 23.0, 23.1, 23.2, 23.3, 23.4, 23.5, 23.6, 23.7, 23.8, 23.9, 24.0, - 24.1, 24.2, 24.3, 24.4, 24.5, 24.6, 24.7, 24.8, 24.9, 25.0, 25.1, - 25.2, 25.3, 25.4, 25.5, 25.6, 25.7, 25.8, 25.9, 26.0, 26.1, 26.2, - 26.3, 26.4, 26.5, 26.6, 26.7, 26.8, 26.9, 27.0, 27.1, 27.2, 27.3, - 27.4, 27.5, 27.6, 27.7, 27.8, 27.9, 28.0, 28.1, 28.2, 28.3, 28.4, - 28.5, 28.6, 28.7, 28.8, 28.9, 29.0, 29.1, 29.2, 29.3, 29.4, 29.5, - 29.6, 29.7, 29.8, 29.9, 30.0, 30.1, 30.2, 30.3, 30.4, 30.5, 30.6, - 30.7, 30.8, 30.9, 31.0, 31.1, 31.2, 31.3, 31.4, 31.5, 31.6, 31.7, - 31.8, 31.9, 32.0, 32.1, 32.2, 32.3, 32.4, 32.5, 32.6, 32.7, 32.8, - 32.9, 33.0, 33.1, 33.2, 33.3, 33.4, 33.5, 33.6, 33.7, 33.8, 33.9, - 34.0, 34.1, 34.2, 34.3, 34.4, 34.5, 34.6, 34.7, 34.8, 34.9, 35.0, - 35.1, 35.2, 35.3, 35.4, 35.5, 35.6, 35.7, 35.8, 35.9, 36.0, 36.1, - 36.2, 36.3, 36.4, 36.5, 36.6, 36.7, 36.8, 36.9, 37.0, 37.1, 37.2, - 37.3, 37.4, 37.5, 37.6, 37.7, 37.8, 37.9, 38.0, 38.1, 38.2, 38.3, - 38.4, 38.5, 38.6, 38.7, 38.8, 38.9, 39.0, 39.1, 39.2, 39.3, 39.4, - 39.5, 39.6, 39.7, 39.8, 39.9, 40.0, 40.09975, 40.199, 40.29775, 40.396, 40.49375, - 40.591, 40.68775, 40.784, 40.87975, 40.975, 41.06975, 41.164, 41.25775, 41.351, 41.44375, 41.536, - 41.62775, 41.719, 41.80975, 41.9, 41.98975, 42.079, 42.16775, 42.256, 42.34375, 42.431, 42.51775, - 42.604, 42.68975, 42.775, 42.85975, 42.944, 43.02775, 43.111, 43.19375, 43.276, 43.35775, 43.439, - 43.51975, 43.6, 43.67975, 43.759, 43.83775, 43.916, 43.99375, 44.071, 44.14775, 44.224, 44.29975, - 44.375, 44.44975, 44.524, 44.59775, 44.671, 44.74375, 44.816, 44.88775, 44.959, 45.02975, 45.1, - 45.16975, 45.239, 45.30775, 45.376, 45.44375, 45.511, 45.57775, 45.644, 45.70975, 45.775, 45.83975, - 45.904, 45.96775, 46.031, 46.09375, 46.156, 46.21775, 46.279, 46.33975, 46.4, 46.45975, 46.519, - 46.57775, 46.636, 46.69375, 46.751, 46.80775, 46.864, 46.91975, 46.975, 47.02975, 47.084, 47.13775, - 47.191, 47.24375, 47.296, 47.34775, 47.399, 47.44975, 47.5, 47.54975, 47.599, 47.64775, 47.696, - 47.74375, 47.791, 47.83775, 47.884, 47.92975, 47.975, 48.01975, 48.064, 48.10775, 48.151, 48.19375, - 48.236, 48.27775, 48.319, 48.35975, 48.4, 48.43975, 48.479, 48.51775, 48.556, 48.59375, 48.631, - 48.66775, 48.704, 48.73975, 48.775, 48.80975, 48.844, 48.87775, 48.911, 48.94375, 48.976, 49.00775, - 49.039, 49.06975, 49.1, 49.12975, 49.159, 49.18775, 49.216, 49.24375, 49.271, 49.29775, 49.324, - 49.34975, 49.375, 49.39975, 49.424, 49.44775, 49.471, 49.49375, 49.516, 49.53775, 49.559, 49.57975, - 49.6, 49.61975, 49.639, 49.65775, 49.676, 49.69375, 49.711, 49.72775, 49.744, 49.75975, 49.775, - 49.78975, 49.804, 49.81775, 49.831, 49.84375, 49.856, 49.86775, 49.879, 49.88975, 49.9, 49.90975, - 49.919, 49.92775, 49.936, 49.94375, 49.951, 49.95775, 49.964, 49.96975, 49.975, 49.97975, 49.984, - 49.98775, 49.991, 49.99375, 49.996, 49.99775, 49.999, 49.99975, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 49.99975, 49.999, 49.99775, 49.996, 49.99375, 49.991, 49.98775, 49.984, 49.97975, 49.975, - 49.96975, 49.964, 49.95775, 49.951, 49.94375, 49.936, 49.92775, 49.919, 49.90975, 49.9, 49.88975, - 49.879, 49.86775, 49.856, 49.84375, 49.831, 49.81775, 49.804, 49.78975, 49.775, 49.75975, 49.744, - 49.72775, 49.711, 49.69375, 49.676, 49.65775, 49.639, 49.61975, 49.6, 49.57975, 49.559, 49.53775, - 49.516, 49.49375, 49.471, 49.44775, 49.424, 49.39975, 49.375, 49.34975, 49.324, 49.29775, 49.271, - 49.24375, 49.216, 49.18775, 49.159, 49.12975, 49.1, 49.06975, 49.039, 49.00775, 48.976, 48.94375, - 48.911, 48.87775, 48.844, 48.80975, 48.775, 48.73975, 48.704, 48.66775, 48.631, 48.59375, 48.556, - 48.51775, 48.479, 48.43975, 48.4, 48.35975, 48.319, 48.27775, 48.236, 48.19375, 48.151, 48.10775, - 48.064, 48.01975, 47.975, 47.92975, 47.884, 47.83775, 47.791, 47.74375, 47.696, 47.64775, 47.599, - 47.54975, 47.5, 47.44975, 47.399, 47.34775, 47.296, 47.24375, 47.191, 47.13775, 47.084, 47.02975, - 46.975, 46.91975, 46.864, 46.80775, 46.751, 46.69375, 46.636, 46.57775, 46.519, 46.45975, 46.4, - 46.33975, 46.279, 46.21775, 46.156, 46.09375, 46.031, 45.96775, 45.904, 45.83975, 45.775, 45.70975, - 45.644, 45.57775, 45.511, 45.44375, 45.376, 45.30775, 45.239, 45.16975, 45.1, 45.02975, 44.959, - 44.88775, 44.816, 44.74375, 44.671, 44.59775, 44.524, 44.44975, 44.375, 44.29975, 44.224, 44.14775, - 44.071, 43.99375, 43.916, 43.83775, 43.759, 43.67975, 43.6, 43.51975, 43.439, 43.35775, 43.276, - 43.19375, 43.111, 43.02775, 42.944, 42.85975, 42.775, 42.68975, 42.604, 42.51775, 42.431, 42.34375, - 42.256, 42.16775, 42.079, 41.98975, 41.9, 41.80975, 41.719, 41.62775, 41.536, 41.44375, 41.351, - 41.25775, 41.164, 41.06975, 40.975, 40.87975, 40.784, 40.68775, 40.591, 40.49375, 40.396, 40.29775, - 40.199, 40.09975, 40.0, 39.9, 39.8, 39.7, 39.6, 39.5, 39.4, 39.3, 39.2, - 39.1, 39.0, 38.9, 38.8, 38.7, 38.6, 38.5, 38.4, 38.3, 38.2, 38.1, - 38.0, 37.9, 37.8, 37.7, 37.6, 37.5, 37.4, 37.3, 37.2, 37.1, 37.0, - 36.9, 36.8, 36.7, 36.6, 36.5, 36.4, 36.3, 36.2, 36.1, 36.0, 35.9, - 35.8, 35.7, 35.6, 35.5, 35.4, 35.3, 35.2, 35.1, 35.0, 34.9, 34.8, - 34.7, 34.6, 34.5, 34.4, 34.3, 34.2, 34.1, 34.0, 33.9, 33.8, 33.7, - 33.6, 33.5, 33.4, 33.3, 33.2, 33.1, 33.0, 32.9, 32.8, 32.7, 32.6, - 32.5, 32.4, 32.3, 32.2, 32.1, 32.0, 31.9, 31.8, 31.7, 31.6, 31.5, - 31.4, 31.3, 31.2, 31.1, 31.0, 30.9, 30.8, 30.7, 30.6, 30.5, 30.4, - 30.3, 30.2, 30.1, 30.0, 29.9, 29.8, 29.7, 29.6, 29.5, 29.4, 29.3, - 29.2, 29.1, 29.0, 28.9, 28.8, 28.7, 28.6, 28.5, 28.4, 28.3, 28.2, - 28.1, 28.0, 27.9, 27.8, 27.7, 27.6, 27.5, 27.4, 27.3, 27.2, 27.1, - 27.0, 26.9, 26.8, 26.7, 26.6, 26.5, 26.4, 26.3, 26.2, 26.1, 26.0, - 25.9, 25.8, 25.7, 25.6, 25.5, 25.4, 25.3, 25.2, 25.1, 25.0, 24.9, - 24.8, 24.7, 24.6, 24.5, 24.4, 24.3, 24.2, 24.1, 24.0, 23.9, 23.8, - 23.7, 23.6, 23.5, 23.4, 23.3, 23.2, 23.1, 23.0, 22.9, 22.8, 22.7, - 22.6, 22.5, 22.4, 22.3, 22.2, 22.1, 22.0, 21.9, 21.8, 21.7, 21.6, - 21.5, 21.4, 21.3, 21.2, 21.1, 21.0, 20.9, 20.8, 20.7, 20.6, 20.5, - 20.4, 20.3, 20.2, 20.1, 20.0, 19.9, 19.8, 19.7, 19.6, 19.5, 19.4, - 19.3, 19.2, 19.1, 19.0, 18.9, 18.8, 18.7, 18.6, 18.5, 18.4, 18.3, - 18.2, 18.1, 18.0, 17.9, 17.8, 17.7, 17.6, 17.5, 17.4, 17.3, 17.2, - 17.1, 17.0, 16.9, 16.8, 16.7, 16.6, 16.5, 16.4, 16.3, 16.2, 16.1, - 16.0, 15.9, 15.8, 15.7, 15.6, 15.5, 15.4, 15.3, 15.2, 15.1, 15.0, - 14.9, 14.8, 14.7, 14.6, 14.5, 14.4, 14.3, 14.2, 14.1, 14.0, 13.9, - 13.8, 13.7, 13.6, 13.5, 13.4, 13.3, 13.2, 13.1, 13.0, 12.9, 12.8, - 12.7, 12.6, 12.5, 12.4, 12.3, 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test-app is purely computational, no motors or encoders are required + * This app tests the functionality of our PID library using the values stored in test_data.h + * NOTE: This test-app is purely computational, + * no motors or encoders are required */ - +#include #include #include "PID.h" -#include "control.h" -#include "feedback.h" -#include "setpoint.h" +#include "test_data.h" -constexpr uint8_t KP = 2; -constexpr uint8_t KI = 103; -constexpr uint8_t KD = 1; +constexpr uint8_t KP = 2, KI = 103, KD = 1; constexpr int32_t min_rpm = INT32_MIN, max_rpm = INT32_MAX; // no saturation constexpr float deadzone = 0; constexpr auto pid_period = 1ms; -std::array control_error; // compare matlab's control signal to ours +constexpr float expected_avg_error = 3.888f; +constexpr auto expected_avg_compute_time = 17us; int main() { printf("##################### PID TEST APP STARTED #####################\r\n"); - PID::Pid controller(KP, KI, KD, min_rpm, max_rpm, deadzone, false); + PID::PID controller(KP, KI, KD, min_rpm, max_rpm, deadzone, false); Timer timer; - for (uint64_t i = 0; i < control_error.size(); i++) { + auto total_compute_time = 0us; + float total_error = 0; + for (uint64_t i = 0; i < control.size(); i++) { if (i % 1000 == 0) { - printf("Completed %lld/50001 iterations\r\n", (long long)i); + printf("Completed %" PRIu64 "/50001 iterations\r\n", i); } timer.reset(); timer.start(); - control_error[i] = std::abs(control.at(i) - controller.compute(setpoint.at(i), feedback.at(i))); + total_error += std::abs(control.at(i) - controller.compute(setpoint.at(i), feedback.at(i))); timer.stop(); MBED_ASSERT(pid_period > timer.elapsed_time()); + total_compute_time += timer.elapsed_time(); wait_us((pid_period - timer.elapsed_time()).count()); // account for compute time } - printf("ERROR STATISTICS\r\n"); - float average = std::accumulate(control_error.begin(), control_error.end(), 0.0) / control_error.size(); - printf("Average difference between Matlab control signal and our control signal: %.3f\r\n", average); + printf("TEST RESULTS\r\n"); + float average_error = total_error / control.size(); + auto average_compute_time = total_compute_time / control.size(); + printf("Average difference between Matlab control signal and our control signal: %.3f\r\n", average_error); + printf("Average time for a single call to the compute function: %llu us\r\n", average_compute_time.count()); + if (std::abs(average_error - expected_avg_error) > 0.001f) { + printf("WARNING: Changes made to PID library have increased average error\r\n"); + } + if (average_compute_time > expected_avg_compute_time) { + printf("WARNING: Changes made to PID library have increased execution time of compute function\r\n"); + } while (true) ; } diff --git a/lib/controllers/include/ActuatorController.h b/lib/controllers/include/ActuatorController.h index 86ca54bdd..99de6967b 100644 --- a/lib/controllers/include/ActuatorController.h +++ b/lib/controllers/include/ActuatorController.h @@ -62,8 +62,8 @@ class ActuatorController { bool m_limSwitchMin_Connected; bool m_limSwitchMax_Connected; - PID::Pid m_velocityPIDController; - PID::Pid m_positionPIDController; + PID::PID m_velocityPIDController; + PID::PID m_positionPIDController; Timer m_updateTimer; diff --git a/lib/pid/include/PID.h b/lib/pid/include/PID.h index 2fd9efa58..acf9a7e03 100644 --- a/lib/pid/include/PID.h +++ b/lib/pid/include/PID.h @@ -12,33 +12,38 @@ * WARNING: Mutexes wait for lock indefinetly, since deadlock is currently impossible * If modifying the code, ensure deadlock remains impossible * Anti-Windup: See this video: https://www.youtube.com/watch?v=NVLXCwc8HzM&t=571s&ab_channel=MATLAB - * See also Brett Beauregard blog - * Anti-Derivative-Kickback: Avoid jerkiness, by differentiating on PV. See Brett Beauregard blog + * See also Brett Beauregard blog: + * http://brettbeauregard.com/blog/2011/04/improving-the-beginner%e2%80%99s-pid-reset-windup/ + * Anti-Derivative-Kickback: Avoid jerkiness, by differentiating on PV. See Brett Beauregard blog: + * http://brettbeauregard.com/blog/2011/04/improving-the-beginner%e2%80%99s-pid-derivative-kick/ + * On-The-Fly Tuning: Allows gains to be changed with reduced joltiness. Done by multiplying the gain into the error + * accumulator: + * http://brettbeauregard.com/blog/2011/04/improving-the-beginner%e2%80%99s-pid-tuning-changes/ * */ #pragma once namespace PID { typedef struct Config { - uint32_t proportionalGain, integralGain, derivativeGain; - int32_t lowerBound, upperBound; + float proportionalGain, integralGain, derivativeGain; + float lowerBound, upperBound; float deadzone; bool antiKickback = true; } Config; -class Pid { +class PID { public: - Pid(uint32_t proportionalGain, uint32_t intregralGain, uint32_t derivativeGain, int32_t lowerBound, - int32_t upperBound, float deadzone, bool antiKickback = true); - Pid(const Config &config); + PID(float proportionalGain, float intregralGain, float derivativeGain, float lowerBound, float upperBound, + float deadzone, bool antiKickback = true); + PID(const Config &config); - void updateProportionalGain(uint32_t p); - void updateIntegralGain(uint32_t i); - void updateDerivativeGain(uint32_t d); + void updateProportionalGain(float p); + void updateIntegralGain(float i); + void updateDerivativeGain(float d); void updateDeadzone(float deadzone); - uint32_t reportProportionalGain() const; - uint32_t reportIntegralGain() const; - uint32_t reportDerivativeGain() const; + float reportProportionalGain() const; + float reportIntegralGain() const; + float reportDerivativeGain() const; float reportDeadzone() const; void reset(); @@ -47,11 +52,11 @@ class Pid { private: mutable Mutex m_mutex; Timer m_timer; - uint32_t m_PGain, m_IGain, m_DGain; - const int32_t m_lowerBound, m_upperBound; + float m_PGain, m_IGain, m_DGain; + const float m_lowerBound, m_upperBound; float m_deadzone; - float m_IPath; - float m_pastError, m_pastPV; + float m_IAccumulator{0}; + float m_pastError{0}, m_pastPV{0}; const bool m_antiKickback; float computePPath(float error); float computeIPath(float error, int64_t dt); diff --git a/lib/pid/src/PID.cpp b/lib/pid/src/PID.cpp index 36db8052f..b18dbb437 100644 --- a/lib/pid/src/PID.cpp +++ b/lib/pid/src/PID.cpp @@ -5,85 +5,82 @@ using namespace PID; -PID::Pid::Pid(uint32_t proportionalGain, uint32_t intregralGain, uint32_t derivativeGain, int32_t lowerBound, - int32_t upperBound, float deadzone, bool antiKickback) +PID::PID::PID(float proportionalGain, float intregralGain, float derivativeGain, float lowerBound, float upperBound, + float deadzone, bool antiKickback) : m_PGain(proportionalGain), m_IGain(intregralGain), m_DGain(derivativeGain), m_lowerBound(lowerBound), m_upperBound(upperBound), m_deadzone(deadzone), - m_IPath(0), - m_pastError(0), - m_pastPV(0), m_antiKickback(antiKickback) {} -PID::Pid::Pid(const PID::Config &config) - : Pid(config.proportionalGain, config.integralGain, config.derivativeGain, config.lowerBound, config.upperBound, +PID::PID::PID(const Config &config) + : PID(config.proportionalGain, config.integralGain, config.derivativeGain, config.lowerBound, config.upperBound, config.deadzone, config.antiKickback) {} -void PID::Pid::updateProportionalGain(uint32_t p) { +void PID::PID::updateProportionalGain(float p) { std::lock_guard lock(m_mutex); m_PGain = p; } -void PID::Pid::updateIntegralGain(uint32_t i) { +void PID::PID::updateIntegralGain(float i) { std::lock_guard lock(m_mutex); m_IGain = i; } -void PID::Pid::updateDerivativeGain(uint32_t d) { +void PID::PID::updateDerivativeGain(float d) { std::lock_guard lock(m_mutex); m_DGain = d; } -void PID::Pid::updateDeadzone(float deadzone) { +void PID::PID::updateDeadzone(float deadzone) { std::lock_guard lock(m_mutex); m_deadzone = deadzone; } -uint32_t PID::Pid::reportProportionalGain() const { +float PID::PID::reportProportionalGain() const { std::lock_guard lock(m_mutex); return m_PGain; } -uint32_t PID::Pid::reportIntegralGain() const { +float PID::PID::reportIntegralGain() const { std::lock_guard lock(m_mutex); return m_IGain; } -uint32_t PID::Pid::reportDerivativeGain() const { +float PID::PID::reportDerivativeGain() const { std::lock_guard lock(m_mutex); return m_DGain; } -float PID::Pid::reportDeadzone() const { +float PID::PID::reportDeadzone() const { std::lock_guard lock(m_mutex); return m_deadzone; } -void PID::Pid::reset() { +void PID::PID::reset() { std::lock_guard lock(m_mutex); - m_IPath = 0; - m_pastError = 0; - m_pastPV = 0; + m_IAccumulator = 0; + m_pastError = 0; + m_pastPV = 0; m_timer.stop(); m_timer.reset(); } -float PID::Pid::computePPath(float error) { +float PID::PID::computePPath(float error) { // no mutex lock needed since inside compute() only return error * m_PGain; } -float PID::Pid::computeIPath(float error, int64_t dt) { +float PID::PID::computeIPath(float error, int64_t dt) { // no mutex lock needed since inside compute() only - m_IPath += error * dt * m_IGain; - m_IPath = std::clamp(m_IPath, static_cast(m_lowerBound), static_cast(m_upperBound)); - return m_IPath; + m_IAccumulator += error * dt * m_IGain; + m_IAccumulator = std::clamp(m_IAccumulator, static_cast(m_lowerBound), static_cast(m_upperBound)); + return m_IAccumulator; } -float PID::Pid::computeDPathOnError(float error, int64_t dt) { +float PID::PID::computeDPathOnError(float error, int64_t dt) { // no mutex lock needed since inside compute() only float derivativePath = 0; if (dt != 0) { @@ -92,7 +89,7 @@ float PID::Pid::computeDPathOnError(float error, int64_t dt) { return derivativePath; } -float PID::Pid::computeDPathOnPV(float processVariable, int64_t dt) { +float PID::PID::computeDPathOnPV(float processVariable, int64_t dt) { // no mutex lock needed since inside compute() only float derivativePath = 0; if (dt != 0) { @@ -101,7 +98,7 @@ float PID::Pid::computeDPathOnPV(float processVariable, int64_t dt) { return -derivativePath; } -float PID::Pid::compute(float setPoint, float processVariable) { +float PID::PID::compute(float setPoint, float processVariable) { std::lock_guard lock(m_mutex); float error = setPoint - processVariable; if (std::abs(error) < m_deadzone) { From a869c7fc214a0cebb06772a4d533e14a8e868849 Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Sun, 3 Jan 2021 15:15:42 -0500 Subject: [PATCH 06/13] formatting --- apps/test-pid/src/main.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/apps/test-pid/src/main.cpp b/apps/test-pid/src/main.cpp index 044d5a700..e045d96be 100644 --- a/apps/test-pid/src/main.cpp +++ b/apps/test-pid/src/main.cpp @@ -4,6 +4,7 @@ * no motors or encoders are required */ #include + #include #include "PID.h" From 615bdd0bc38ef5a1a6e944c8f09e161b581ba62b Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Sun, 3 Jan 2021 18:58:22 -0500 Subject: [PATCH 07/13] added mention of matlab code --- apps/test-pid/include/test_data.h | 1 + 1 file changed, 1 insertion(+) diff --git a/apps/test-pid/include/test_data.h b/apps/test-pid/include/test_data.h index 1de588419..bd80599b8 100644 --- a/apps/test-pid/include/test_data.h +++ b/apps/test-pid/include/test_data.h @@ -1,5 +1,6 @@ /** * Matlab's PID functionality was used to generate a control signal from the setpoint and feedback signals. + * The Matlab code may be found in the pid-matlab-script branch */ #pragma once #include From 6e4b7d7aacdbe80d3594c8fcf5ef1f84d6952a26 Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Mon, 4 Jan 2021 20:17:40 -0500 Subject: [PATCH 08/13] use scoped lock. use better anti windup. --- apps/test-pid/src/main.cpp | 18 ++++++----- lib/pid/include/PID.h | 9 ++---- lib/pid/src/PID.cpp | 66 +++++++++++++++++--------------------- 3 files changed, 43 insertions(+), 50 deletions(-) diff --git a/apps/test-pid/src/main.cpp b/apps/test-pid/src/main.cpp index e045d96be..7b79f1b4a 100644 --- a/apps/test-pid/src/main.cpp +++ b/apps/test-pid/src/main.cpp @@ -3,15 +3,16 @@ * NOTE: This test-app is purely computational, * no motors or encoders are required */ -#include - #include +#include + #include "PID.h" #include "test_data.h" -constexpr uint8_t KP = 2, KI = 103, KD = 1; -constexpr int32_t min_rpm = INT32_MIN, max_rpm = INT32_MAX; // no saturation +constexpr float KP = 2, KI = 103, KD = 1; +constexpr float min_rpm = std::numeric_limits::min(), + max_rpm = std::numeric_limits::max(); // no saturation constexpr float deadzone = 0; constexpr auto pid_period = 1ms; @@ -20,13 +21,14 @@ constexpr auto expected_avg_compute_time = 17us; int main() { printf("##################### PID TEST APP STARTED #####################\r\n"); - PID::PID controller(KP, KI, KD, min_rpm, max_rpm, deadzone, false); + PID::Config config = {KP, KI, KD, min_rpm, max_rpm, deadzone, false}; + PID::PID controller(config); Timer timer; auto total_compute_time = 0us; float total_error = 0; - for (uint64_t i = 0; i < control.size(); i++) { + for (std::size_t i = 0; i < control.size(); i++) { if (i % 1000 == 0) { - printf("Completed %" PRIu64 "/50001 iterations\r\n", i); + printf("Completed %zu /50001 iterations\r\n", i); } timer.reset(); timer.start(); @@ -41,7 +43,7 @@ int main() { auto average_compute_time = total_compute_time / control.size(); printf("Average difference between Matlab control signal and our control signal: %.3f\r\n", average_error); printf("Average time for a single call to the compute function: %llu us\r\n", average_compute_time.count()); - if (std::abs(average_error - expected_avg_error) > 0.001f) { + if (average_error - expected_avg_error > 0.001f) { printf("WARNING: Changes made to PID library have increased average error\r\n"); } if (average_compute_time > expected_avg_compute_time) { diff --git a/lib/pid/include/PID.h b/lib/pid/include/PID.h index acf9a7e03..12d90efd8 100644 --- a/lib/pid/include/PID.h +++ b/lib/pid/include/PID.h @@ -32,8 +32,6 @@ typedef struct Config { } Config; class PID { public: - PID(float proportionalGain, float intregralGain, float derivativeGain, float lowerBound, float upperBound, - float deadzone, bool antiKickback = true); PID(const Config &config); void updateProportionalGain(float p); @@ -47,7 +45,7 @@ class PID { float reportDeadzone() const; void reset(); - float compute(float setPoint, float processVariable); // takes ~17us to run + float compute(float setPoint, float processVariable); // takes ~15us to run private: mutable Mutex m_mutex; @@ -59,8 +57,7 @@ class PID { float m_pastError{0}, m_pastPV{0}; const bool m_antiKickback; float computePPath(float error); - float computeIPath(float error, int64_t dt); - float computeDPathOnError(float error, int64_t dt); - float computeDPathOnPV(float PV, int64_t dt); + float computeDPathOnError(float error, float dt); + float computeDPathOnPV(float PV, float dt); }; } // namespace PID diff --git a/lib/pid/src/PID.cpp b/lib/pid/src/PID.cpp index b18dbb437..bbadc4741 100644 --- a/lib/pid/src/PID.cpp +++ b/lib/pid/src/PID.cpp @@ -1,66 +1,60 @@ #include "PID.h" -#include #include using namespace PID; -PID::PID::PID(float proportionalGain, float intregralGain, float derivativeGain, float lowerBound, float upperBound, - float deadzone, bool antiKickback) - : m_PGain(proportionalGain), - m_IGain(intregralGain), - m_DGain(derivativeGain), - m_lowerBound(lowerBound), - m_upperBound(upperBound), - m_deadzone(deadzone), - m_antiKickback(antiKickback) {} - PID::PID::PID(const Config &config) - : PID(config.proportionalGain, config.integralGain, config.derivativeGain, config.lowerBound, config.upperBound, - config.deadzone, config.antiKickback) {} + : m_PGain(config.proportionalGain), + m_IGain(config.integralGain), + m_DGain(config.derivativeGain), + m_lowerBound(config.lowerBound), + m_upperBound(config.upperBound), + m_deadzone(config.deadzone), + m_antiKickback(config.antiKickback) {} void PID::PID::updateProportionalGain(float p) { - std::lock_guard lock(m_mutex); + std::scoped_lock lock(m_mutex); m_PGain = p; } void PID::PID::updateIntegralGain(float i) { - std::lock_guard lock(m_mutex); + std::scoped_lock lock(m_mutex); m_IGain = i; } void PID::PID::updateDerivativeGain(float d) { - std::lock_guard lock(m_mutex); + std::scoped_lock lock(m_mutex); m_DGain = d; } void PID::PID::updateDeadzone(float deadzone) { - std::lock_guard lock(m_mutex); + std::scoped_lock lock(m_mutex); m_deadzone = deadzone; } float PID::PID::reportProportionalGain() const { - std::lock_guard lock(m_mutex); + std::scoped_lock lock(m_mutex); return m_PGain; } float PID::PID::reportIntegralGain() const { - std::lock_guard lock(m_mutex); + std::scoped_lock lock(m_mutex); return m_IGain; } float PID::PID::reportDerivativeGain() const { - std::lock_guard lock(m_mutex); + std::scoped_lock lock(m_mutex); return m_DGain; } float PID::PID::reportDeadzone() const { - std::lock_guard lock(m_mutex); + std::scoped_lock lock(m_mutex); return m_deadzone; } void PID::PID::reset() { - std::lock_guard lock(m_mutex); + std::scoped_lock lock(m_mutex); m_IAccumulator = 0; m_pastError = 0; m_pastPV = 0; @@ -73,33 +67,26 @@ float PID::PID::computePPath(float error) { return error * m_PGain; } -float PID::PID::computeIPath(float error, int64_t dt) { - // no mutex lock needed since inside compute() only - m_IAccumulator += error * dt * m_IGain; - m_IAccumulator = std::clamp(m_IAccumulator, static_cast(m_lowerBound), static_cast(m_upperBound)); - return m_IAccumulator; -} - -float PID::PID::computeDPathOnError(float error, int64_t dt) { +float PID::PID::computeDPathOnError(float error, float dt) { // no mutex lock needed since inside compute() only float derivativePath = 0; if (dt != 0) { - derivativePath = m_DGain * (error - m_pastError) / dt; + derivativePath = m_DGain * (error - m_pastError) / dt; // todo this keeps dividing by a small number } return derivativePath; } -float PID::PID::computeDPathOnPV(float processVariable, int64_t dt) { +float PID::PID::computeDPathOnPV(float processVariable, float dt) { // no mutex lock needed since inside compute() only float derivativePath = 0; if (dt != 0) { derivativePath = m_DGain * (processVariable - m_pastPV) / dt; } - return -derivativePath; + return -derivativePath; // since d_error/dt = -d_pv/dt } float PID::PID::compute(float setPoint, float processVariable) { - std::lock_guard lock(m_mutex); + std::scoped_lock lock(m_mutex); float error = setPoint - processVariable; if (std::abs(error) < m_deadzone) { error = 0; @@ -108,9 +95,16 @@ float PID::PID::compute(float setPoint, float processVariable) { m_timer.stop(); float dt = chrono::duration_cast>(m_timer.elapsed_time()).count(); // seconds float paths = computePPath(error); - paths += computeIPath(error, dt); + m_IAccumulator += error * dt * m_IGain; + paths += m_IAccumulator; paths += m_antiKickback ? computeDPathOnPV(processVariable, dt) : computeDPathOnError(error, dt); - paths = std::clamp(paths, static_cast(m_lowerBound), static_cast(m_upperBound)); + if (paths > m_upperBound) { + m_IAccumulator -= paths - m_upperBound; + paths = m_upperBound; + } else if (paths < m_lowerBound) { + m_IAccumulator += m_lowerBound - paths; + paths = m_lowerBound; + } m_pastError = error; m_pastPV = processVariable; From 148b4f66de66816fb9c507142b9ab6df1c6b40e4 Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Wed, 6 Jan 2021 21:22:37 -0500 Subject: [PATCH 09/13] use new values --- apps/test-pid/include/test_data.h | 1790 +++++++++++++++-------------- apps/test-pid/src/delete.txt | 62 + apps/test-pid/src/main.cpp | 4 +- lib/pid/include/PID.h | 3 +- lib/pid/src/PID.cpp | 21 +- 5 files changed, 996 insertions(+), 884 deletions(-) create mode 100644 apps/test-pid/src/delete.txt diff --git a/apps/test-pid/include/test_data.h b/apps/test-pid/include/test_data.h index bd80599b8..6890516ac 100644 --- a/apps/test-pid/include/test_data.h +++ b/apps/test-pid/include/test_data.h @@ -4,881 +4,922 @@ */ #pragma once #include + constexpr std::array control = { - 0.0, 0.01537, 0.04646, 0.07826, 0.11076, 0.14395, 0.17784, 0.21242, 0.24768, 2.39472, 0.4845, 1.38464, - 1.06956, 1.48151, 1.39959, 1.55301, 1.5914, 1.68589, 1.75929, 1.93416, 2.0732, 2.23647, 2.39638, 2.56582, - 2.73841, 2.91722, 3.10056, 3.28922, 3.48264, 3.68102, 3.88412, 4.08306, 4.35008, 4.57603, 4.83448, 5.07437, - 5.3323, 5.58129, 5.84171, 1.48249, 6.27048, 1.57048, 6.78629, 1.65753, 7.25479, 1.744, 7.79143, 1.82938, - 8.29004, 16.00342, 11.35566, 5.14683, 2.01619, 2.0833, 2.14908, 2.21362, 2.27701, 2.33934, 2.40069, 2.46112, - 2.52069, 2.57945, 2.63746, 2.69474, 2.75134, 2.8073, 2.86263, 2.91736, 2.97151, 3.02511, 3.07816, 3.13068, - 3.18268, 3.23417, 3.28516, 3.33565, 3.38565, 3.43517, 3.4842, 3.53275, 3.58083, 3.62843, 3.67555, 3.7222, - 3.76837, 3.81407, 3.85929, 3.90405, 3.94833, 3.99213, 4.03547, 4.07834, 4.12073, 4.16266, 4.20413, 4.24513, - 4.28567, 4.32575, 4.36537, 4.40455, 4.44327, 4.48155, 4.5194, 4.55681, 4.59379, 4.63035, 4.6665, 4.70224, - 4.73757, 4.77252, 4.80708, 4.84126, 4.87508, 4.90854, 4.94165, 4.97442, 5.00687, 5.03899, 5.07082, 5.10235, - 5.13359, 5.16456, 5.19528, 5.22575, 5.25598, 5.286, 5.3158, 5.34542, 5.37484, 5.40411, 5.43321, 5.46218, - 5.49101, 5.51974, 5.54836, 5.5769, 5.60536, 5.63376, 5.66212, 5.69045, 5.71876, 5.74706, 5.77537, 5.8037, - 5.83207, 5.86048, 5.88895, 5.9175, 5.94613, 5.97485, 6.00369, 6.03264, 6.06172, 6.09095, 6.12032, 6.14986, - 6.17957, 6.20946, 6.23955, 6.26983, 6.30032, 6.33103, 6.36197, 6.39313, 6.42453, 6.45618, 6.48809, 6.52025, - 6.55267, 6.58536, 6.61832, 6.65156, 6.68508, 6.71888, 6.75297, 6.78734, 6.82201, 6.85697, 6.89222, 6.92777, - 6.96361, 6.99974, 7.03617, 7.07289, 7.1099, 7.1472, 7.18479, 7.22266, 7.26081, 7.29925, 7.33795, 7.37693, - 7.41617, 7.45567, 7.49543, 7.53544, 7.5757, 7.61619, 7.65692, 7.69788, 7.73905, 7.76507, 7.77557, 7.78556, - 7.79505, 7.80401, 7.81246, 7.82039, 7.82779, 7.83466, 7.84101, 7.84682, 7.8521, 7.85684, 7.86106, 7.86474, - 7.86789, 7.87052, 7.87262, 7.87419, 7.87525, 7.87579, 7.87582, 7.87535, 7.87438, 7.87291, 7.87097, 7.86854, - 7.86565, 7.8623, 7.8585, 7.85426, 7.84959, 7.84449, 7.839, 7.8331, 7.82683, 7.82018, 7.81317, 7.80582, - 7.79814, 7.79014, 7.78184, 7.77325, 7.76439, 7.75527, 7.74591, 7.73632, 7.72652, 7.71652, 7.70635, 7.69601, - 7.68552, 7.6749, 7.66417, 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0.52116, 0.5049, 0.48863, 0.47233, 0.45602, 0.4397, 0.42336, + 0.40701, 0.39065, 0.37428, 0.3579, 0.34153, 0.32514, 0.30876, 0.29238, 0.276, 0.25962, 0.24325, + 0.22688, 0.21053, 0.19418, 0.17785, 0.16153, 0.14522, 0.12893, 0.11266, 0.09641, 0.08018, 0.06398, + 0.04779, 0.03164, 0.01551, 0.00059, 0.01665, 0.03269, 0.04869, 0.06465, 0.08058, 0.09647, 0.11231, + 0.12812, 0.14388, 0.1596, 0.17527, 0.1909, 0.20647, 0.22199, 0.23747, 0.25288, 0.26825, 0.28355, + 0.2988, 0.31399, 0.32911, 0.34418, 0.35918, 0.37412, 0.38899, 0.40379, 0.41852, 0.43318, 0.44777, + 0.46229, 0.47673, 0.4911, 0.50539, 0.5196, 0.53373, 0.54778, 0.56175, 0.57563, 0.58943, 0.60314, + 0.61677, 0.6303, 0.64375, 0.65711, 0.67037, 0.68354, 0.69662, 0.7096, 0.72249, 0.73528, 0.74796, + 0.76055, 0.77304, 0.78543, 0.79771, 0.80989, 0.82196, 0.83393, 0.84579, 0.85754, 0.86918, 0.88071, + 0.89213, 0.90344, 0.91464, 0.92572, 0.93669, 0.94754, 0.95827, +}; constexpr std::array feedback = { - 0.0, 0.0, 1.9, 9.86, 2.88, 6.45, 0.00012, 0.00021, 0.00034, 0.00051, 0.00075, - 0.00107, 0.00147, 0.00196, 0.00255, 0.00325, 0.00408, 0.00504, 0.00615, 0.00741, 0.00885, 0.01048, - 0.01233, 0.01439, 0.01671, 0.01928, 0.02213, 0.02528, 0.02875, 0.03255, 0.0367, 0.04138, 0.04659, - 0.05235, 0.05869, 0.06561, 0.07313, 0.08128, 0.09005, 0.0996, 0.1094, 0.12003, 0.13092, 0.14269, - 0.15474, 0.16773, 0.181, 0.19526, 0.20982, 0.22534, 0.24181, 0.25923, 0.27726, 0.29558, 0.31422, - 0.33323, 0.35263, 0.37247, 0.39277, 0.41356, 0.43488, 0.45675, 0.47918, 0.50222, 0.52587, 0.55015, - 0.5751, 0.60072, 0.62702, 0.65404, 0.68177, 0.71024, 0.73946, 0.76943, 0.80017, 0.83169, 0.864, - 0.8971, 0.931, 0.96571, 1.00124, 1.03759, 1.07476, 1.11275, 1.15158, 1.19124, 1.23174, 1.27307, - 1.31524, 1.35824, 1.40208, 1.44675, 1.49226, 1.5386, 1.58576, 1.63375, 1.68256, 1.73218, 1.78262, - 1.83386, 1.8859, 1.93874, 1.99236, 2.04677, 2.10195, 2.1579, 2.21461, 2.27207, 2.33027, 2.3892, - 2.44886, 2.50924, 2.57032, 2.6321, 2.69457, 2.75771, 2.82152, 2.88599, 2.9511, 3.01685, 3.08322, - 3.1502, 3.21779, 3.28597, 3.35473, 3.42406, 3.49395, 3.56439, 3.63537, 3.70687, 3.77889, 3.85141, - 3.92442, 3.99792, 4.0719, 4.14633, 4.22122, 4.29655, 4.37232, 4.44851, 4.52511, 4.60211, 4.67952, - 4.7573, 4.83547, 4.91401, 4.99291, 5.07216, 5.15176, 5.2317, 5.31197, 5.39257, 5.47348, 5.55471, - 5.63625, 5.71809, 5.80023, 5.88266, 5.96538, 6.04839, 6.13167, 6.21524, 6.29907, 6.38318, 6.46756, - 6.55221, 6.63712, 6.7223, 6.80774, 6.89344, 6.97941, 7.06564, 7.15213, 7.23889, 7.32591, 7.4132, - 7.50075, 7.58858, 7.67668, 7.76506, 7.85371, 7.94265, 8.03187, 8.12138, 8.21118, 8.30128, 8.39169, - 8.4824, 8.57342, 8.66475, 8.75641, 8.8484, 8.94072, 9.03338, 9.12639, 9.21974, 9.31346, 9.40754, - 9.502, 9.59683, 9.69205, 9.78766, 9.88367, 9.98008, 10.0769, 10.17412, 10.27175, 10.36979, 10.46823, - 10.56707, 10.66633, 10.76598, 10.86603, 10.96648, 11.06732, 11.16855, 11.27016, 11.37215, 11.47451, 11.57724, - 11.68032, 11.78376, 11.88753, 11.99165, 12.09608, 12.20084, 12.3059, 12.41125, 12.5169, 12.62282, 12.72901, - 12.83545, 12.94213, 13.04905, 13.15618, 13.26353, 13.37107, 13.47879, 13.58668, 13.69474, 13.80293, 13.91126, - 14.01971, 14.12827, 14.23691, 14.34564, 14.45444, 14.56329, 14.67218, 14.7811, 14.89003, 14.99897, 15.1079, - 15.21681, 15.32568, 15.4345, 15.54327, 15.65196, 15.76057, 15.86909, 15.9775, 16.0858, 16.19397, 16.302, - 16.40989, 16.51762, 16.62518, 16.73257, 16.83977, 16.94678, 17.05359, 17.16019, 17.26658, 17.37274, 17.47867, - 17.58437, 17.68982, 17.79503, 17.89998, 18.00468, 18.10911, 18.21328, 18.31718, 18.42081, 18.52417, 18.62725, - 18.73004, 18.83256, 18.9348, 19.03676, 19.13843, 19.23983, 19.34094, 19.44177, 19.54232, 19.6426, 19.7426, - 19.84233, 19.9418, 20.04099, 20.13992, 20.2386, 20.33702, 20.43519, 20.53311, 20.6308, 20.72825, 20.82547, - 20.92247, 21.01925, 21.11583, 21.2122, 21.30837, 21.40436, 21.50016, 21.59579, 21.69126, 21.78657, 21.88172, - 21.97674, 22.07162, 22.16638, 22.26102, 22.35555, 22.44998, 22.54432, 22.63859, 22.73277, 22.8269, 22.92097, - 23.01499, 23.10898, 23.20294, 23.29687, 23.3908, 23.48473, 23.57866, 23.67261, 23.76658, 23.86058, 23.95462, - 24.04871, 24.14285, 24.23706, 24.33134, 24.4257, 24.52015, 24.61468, 24.70932, 24.80407, 24.89892, 24.9939, - 25.089, 25.18423, 25.2796, 25.37511, 25.47076, 25.56657, 25.66254, 25.75866, 25.85495, 25.95141, 26.04804, - 26.14484, 26.24182, 26.33898, 26.43633, 26.53386, 26.63157, 26.72947, 26.82757, 26.92585, 27.02433, 27.12299, - 27.22185, 27.3209, 27.42014, 27.51957, 27.61918, 27.71899, 27.81899, 27.91917, 28.01953, 28.12007, 28.22079, - 28.32169, 28.42276, 28.524, 28.62541, 28.72698, 28.8287, 28.93059, 29.03263, 29.13481, 29.23713, 29.3396, - 29.44219, 29.54492, 29.64777, 29.75073, 29.85381, 29.957, 30.06029, 30.16368, 30.26716, 30.37072, 30.47436, - 30.57807, 30.68186, 30.7857, 30.8896, 30.99355, 31.09754, 31.20157, 31.30563, 31.40972, 31.51383, 31.61795, - 31.72208, 31.8262, 31.93033, 32.03444, 32.13854, 32.24262, 32.34667, 32.45069, 32.55467, 32.65861, 32.7625, - 32.86633, 32.97011, 33.07383, 33.17747, 33.28105, 33.38455, 33.48796, 33.5913, 33.69454, 33.79769, 33.90074, - 34.0037, 34.10655, 34.2093, 34.31193, 34.41446, 34.51687, 34.61916, 34.72134, 34.82339, 34.92533, 35.02713, - 35.12882, 35.23037, 35.3318, 35.4331, 35.53427, 35.63531, 35.73622, 35.837, 35.93765, 36.03817, 36.13856, - 36.23882, 36.33896, 36.43896, 36.53884, 36.6386, 36.73824, 36.83775, 36.93714, 37.03642, 37.13558, 37.23462, - 37.33356, 37.43238, 37.53111, 37.62972, 37.72824, 37.82667, 37.92499, 38.02323, 38.12138, 38.21944, 38.31743, - 38.41534, 38.51317, 38.61094, 38.70864, 38.80628, 38.90386, 39.00138, 39.09886, 39.19629, 39.29368, 39.39103, - 39.48834, 39.58563, 39.68289, 39.78013, 39.87735, 39.97456, 40.07176, 40.16895, 40.26614, 40.36332, 40.46048, - 40.55764, 40.65478, 40.7519, 40.84899, 40.94606, 41.04309, 41.14007, 41.23701, 41.33389, 41.43071, 41.52745, - 41.62411, 41.72067, 41.81712, 41.91346, 42.00967, 42.10575, 42.20167, 42.29742, 42.393, 42.48838, 42.58356, - 42.67852, 42.77325, 42.86773, 42.96194, 43.05588, 43.14952, 43.24285, 43.33585, 43.42852, 43.52083, 43.61276, - 43.70431, 43.79546, 43.88618, 43.97647, 44.06631, 44.15568, 44.24456, 44.33295, 44.42082, 44.50817, 44.59497, - 44.68121, 44.76688, 44.85196, 44.93644, 45.0203, 45.10354, 45.18613, 45.26806, 45.34933, 45.42991, 45.50981, - 45.589, 45.66747, 45.74522, 45.82223, 45.8985, 45.97401, 46.04876, 46.12273, 46.19593, 46.26833, 46.33994, - 46.41075, 46.48075, 46.54993, 46.6183, 46.68584, 46.75255, 46.81844, 46.88348, 46.94769, 47.01106, 47.07359, - 47.13528, 47.19612, 47.25613, 47.31528, 47.3736, 47.43107, 47.48771, 47.54351, 47.59847, 47.65261, 47.70591, - 47.75839, 47.81006, 47.86091, 47.91095, 47.96018, 48.00862, 48.05627, 48.10313, 48.14921, 48.19453, 48.23908, - 48.28288, 48.32593, 48.36824, 48.40983, 48.45069, 48.49085, 48.5303, 48.56906, 48.60714, 48.64455, 48.6813, - 48.71739, 48.75285, 48.78767, 48.82188, 48.85548, 48.88847, 48.92089, 48.95272, 48.98399, 49.0147, 49.04487, - 49.07451, 49.10362, 49.13223, 49.16033, 49.18794, 49.21507, 49.24172, 49.26792, 49.29367, 49.31898, 49.34386, - 49.36831, 49.39235, 49.41599, 49.43924, 49.4621, 49.48458, 49.50669, 49.52845, 49.54984, 49.57089, 49.5916, - 49.61198, 49.63203, 49.65176, 49.67118, 49.69028, 49.70909, 49.72759, 49.7458, 49.76372, 49.78135, 49.79869, - 49.81576, 49.83255, 49.84907, 49.86531, 49.88129, 49.89699, 49.91243, 49.9276, 49.9425, 49.95713, 49.9715, - 49.9856, 49.99943, 50.013, 50.02629, 50.03931, 50.05205, 50.06452, 50.07671, 50.08861, 50.10023, 50.11156, - 50.12259, 50.13333, 50.14376, 50.15389, 50.16371, 50.17321, 50.18239, 50.19124, 50.19976, 50.20795, 50.21578, - 50.22327, 50.2304, 50.23717, 50.24357, 50.24959, 50.25523, 50.26048, 50.26533, 50.26978, 50.27381, 50.27744, - 50.28065, 50.28344, 50.28582, 50.28778, 50.28932, 50.29044, 50.29115, 50.29145, 50.29134, 50.29082, 50.2899, - 50.28858, 50.28688, 50.28478, 50.2823, 50.27945, 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42.80477, 42.7958, 42.78758, 42.7801, 42.77336, 42.76737, 42.76212, 42.75761, 42.75383, 42.7508, 42.74851, + 42.74695, 42.74612, 42.74604, 42.74668, 42.74805, 42.75016, 42.75299, 42.75655, 42.76083, 42.76583, 42.77156, + 42.778, 42.78516, 42.79304, 42.80163, 42.81092, 42.82093, 42.83164, 42.84306, 42.85517, 42.86798, 42.88149, + 42.89569, 42.91058, 42.92616, 42.94242, 42.95937, 42.97699, 42.99529, +}; constexpr std::array setpoint = { 0.0, 0.00025, 0.001, 0.00225, 0.004, 0.00625, 0.009, 0.01225, 0.016, 0.02025, 0.025, @@ -1217,7 +1258,7 @@ constexpr std::array setpoint = { 0.361, 0.34225, 0.324, 0.30625, 0.289, 0.27225, 0.256, 0.24025, 0.225, 0.21025, 0.196, 0.18225, 0.169, 0.15625, 0.144, 0.13225, 0.121, 0.11025, 0.1, 0.09025, 0.081, 0.07225, 0.064, 0.05625, 0.049, 0.04225, 0.036, 0.03025, 0.025, 0.02025, 0.016, 0.01225, 0.009, - 0.00625, 0.004, 0.00225, 0.001, 0.00025, 1.11022, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.00625, 0.004, 0.00225, 0.001, 0.00025, 1.11, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, @@ -1335,4 +1376,5 @@ constexpr std::array setpoint = { 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0}; + 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, +}; diff --git a/apps/test-pid/src/delete.txt b/apps/test-pid/src/delete.txt new file mode 100644 index 000000000..efb61cc6b --- /dev/null +++ b/apps/test-pid/src/delete.txt @@ -0,0 +1,62 @@ +/** + * This app tests the functionality of our PID library using the values stored in test_data.h + * NOTE: This test-app is purely computational, + * no motors or encoders are required + */ +#include + +#include + +#include "PID.h" +#include "test_data.h" + +constexpr float KP = 2, KI = 103, KD = 1; +constexpr float min_rpm = std::numeric_limits::min(), + max_rpm = std::numeric_limits::max(); // no saturation +constexpr float deadzone = 0; +constexpr auto pid_period = 1ms; + +constexpr float expected_avg_error = 3.888f; +constexpr auto expected_avg_compute_time = 17us; + +Timer global_timer; + +int main() { + printf("##################### PID TEST APP STARTED #####################\r\n"); + PID::Config config = {KP, KI, KD, min_rpm, max_rpm, deadzone, false}; + PID::PID controller(config); + Timer timer; + auto total_compute_time = 0us; + float total_error = 0; + global_timer.start(); + for (std::size_t i = 0; i < control.size(); i++) { + if (i % 1000 == 0) { + //printf("Completed %zu /50001 iterations\r\n", i); + } + timer.reset(); + timer.start(); + float temp = controller.compute(setpoint.at(i), feedback.at(i)); + timer.stop(); + total_error += std::abs(control.at(i) - temp); + printf("%.4f, %.4f,\n", global_timer.elapsed_time().count()/1000000.0f, temp); + MBED_ASSERT(pid_period > timer.elapsed_time()); + total_compute_time += timer.elapsed_time(); + wait_us((pid_period - timer.elapsed_time()).count()); // account for compute time + } + //printf("TEST RESULTS\r\n"); + float average_error = total_error / control.size(); + auto average_compute_time = total_compute_time / control.size(); + //printf("Average difference between Matlab control signal and our control signal: %.3f\r\n", average_error); + //printf("Average time for a single call to the compute function: %llu us\r\n", average_compute_time.count()); + if (average_error - expected_avg_error > 0.001f) { + //printf("WARNING: Changes made to PID library have increased average error\r\n"); + } + if (average_compute_time > expected_avg_compute_time) { + printf("WARNING: Changes made to PID library have increased execution time of compute function\r\n"); + } + + printf("\r\n\r\n\r\n"); + + while (true) + ; +} diff --git a/apps/test-pid/src/main.cpp b/apps/test-pid/src/main.cpp index 7b79f1b4a..88589085d 100644 --- a/apps/test-pid/src/main.cpp +++ b/apps/test-pid/src/main.cpp @@ -17,11 +17,11 @@ constexpr float deadzone = 0; constexpr auto pid_period = 1ms; constexpr float expected_avg_error = 3.888f; -constexpr auto expected_avg_compute_time = 17us; +constexpr auto expected_avg_compute_time = 15us; int main() { printf("##################### PID TEST APP STARTED #####################\r\n"); - PID::Config config = {KP, KI, KD, min_rpm, max_rpm, deadzone, false}; + PID::Config config = {KP, KI, KD, min_rpm, max_rpm, deadzone, false, false}; PID::PID controller(config); Timer timer; auto total_compute_time = 0us; diff --git a/lib/pid/include/PID.h b/lib/pid/include/PID.h index 12d90efd8..81a9ac213 100644 --- a/lib/pid/include/PID.h +++ b/lib/pid/include/PID.h @@ -29,6 +29,7 @@ typedef struct Config { float lowerBound, upperBound; float deadzone; bool antiKickback = true; + bool antiWindup = true; } Config; class PID { public: @@ -55,7 +56,7 @@ class PID { float m_deadzone; float m_IAccumulator{0}; float m_pastError{0}, m_pastPV{0}; - const bool m_antiKickback; + const bool m_antiKickback, m_antiWindup; float computePPath(float error); float computeDPathOnError(float error, float dt); float computeDPathOnPV(float PV, float dt); diff --git a/lib/pid/src/PID.cpp b/lib/pid/src/PID.cpp index bbadc4741..ec8699ff9 100644 --- a/lib/pid/src/PID.cpp +++ b/lib/pid/src/PID.cpp @@ -1,5 +1,6 @@ #include "PID.h" +#include #include using namespace PID; @@ -11,7 +12,8 @@ PID::PID::PID(const Config &config) m_lowerBound(config.lowerBound), m_upperBound(config.upperBound), m_deadzone(config.deadzone), - m_antiKickback(config.antiKickback) {} + m_antiKickback(config.antiKickback), + m_antiWindup(config.antiWindup) {} void PID::PID::updateProportionalGain(float p) { std::scoped_lock lock(m_mutex); @@ -98,12 +100,17 @@ float PID::PID::compute(float setPoint, float processVariable) { m_IAccumulator += error * dt * m_IGain; paths += m_IAccumulator; paths += m_antiKickback ? computeDPathOnPV(processVariable, dt) : computeDPathOnError(error, dt); - if (paths > m_upperBound) { - m_IAccumulator -= paths - m_upperBound; - paths = m_upperBound; - } else if (paths < m_lowerBound) { - m_IAccumulator += m_lowerBound - paths; - paths = m_lowerBound; + + if (m_antiWindup) { + if (paths > m_upperBound) { + m_IAccumulator -= paths - m_upperBound; + paths = m_upperBound; + } else if (paths < m_lowerBound) { + m_IAccumulator += m_lowerBound - paths; + paths = m_lowerBound; + } + } else { + paths = std::clamp(paths, m_lowerBound, m_upperBound); } m_pastError = error; From 46594754de910c4eb6279ef33f4f9bcfc3038a30 Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Fri, 8 Jan 2021 18:49:17 -0500 Subject: [PATCH 10/13] avg error is now 37 --- apps/test-pid/src/main.cpp | 2 +- lib/pid/include/PID.h | 2 +- lib/pid/src/PID.cpp | 7 ++++--- 3 files changed, 6 insertions(+), 5 deletions(-) diff --git a/apps/test-pid/src/main.cpp b/apps/test-pid/src/main.cpp index 88589085d..8e2ab75b7 100644 --- a/apps/test-pid/src/main.cpp +++ b/apps/test-pid/src/main.cpp @@ -16,7 +16,7 @@ constexpr float min_rpm = std::numeric_limits::min(), constexpr float deadzone = 0; constexpr auto pid_period = 1ms; -constexpr float expected_avg_error = 3.888f; +constexpr float expected_avg_error = 36.897; constexpr auto expected_avg_compute_time = 15us; int main() { diff --git a/lib/pid/include/PID.h b/lib/pid/include/PID.h index 81a9ac213..5534a07e7 100644 --- a/lib/pid/include/PID.h +++ b/lib/pid/include/PID.h @@ -46,7 +46,7 @@ class PID { float reportDeadzone() const; void reset(); - float compute(float setPoint, float processVariable); // takes ~15us to run + float compute(float setPoint, float processVariable, float ff = 0); // takes ~15us to run private: mutable Mutex m_mutex; diff --git a/lib/pid/src/PID.cpp b/lib/pid/src/PID.cpp index ec8699ff9..1ced482fd 100644 --- a/lib/pid/src/PID.cpp +++ b/lib/pid/src/PID.cpp @@ -87,7 +87,7 @@ float PID::PID::computeDPathOnPV(float processVariable, float dt) { return -derivativePath; // since d_error/dt = -d_pv/dt } -float PID::PID::compute(float setPoint, float processVariable) { +float PID::PID::compute(float setPoint, float processVariable, float ff) { std::scoped_lock lock(m_mutex); float error = setPoint - processVariable; if (std::abs(error) < m_deadzone) { @@ -96,7 +96,8 @@ float PID::PID::compute(float setPoint, float processVariable) { m_timer.stop(); float dt = chrono::duration_cast>(m_timer.elapsed_time()).count(); // seconds - float paths = computePPath(error); + float paths = ff; + paths += computePPath(error); m_IAccumulator += error * dt * m_IGain; paths += m_IAccumulator; paths += m_antiKickback ? computeDPathOnPV(processVariable, dt) : computeDPathOnError(error, dt); @@ -110,7 +111,7 @@ float PID::PID::compute(float setPoint, float processVariable) { paths = m_lowerBound; } } else { - paths = std::clamp(paths, m_lowerBound, m_upperBound); + paths = std::clamp(paths, m_lowerBound, m_upperBound); // clamp without affecting accumulator } m_pastError = error; From 2fdd584702611f8cf1c4f6487bdeca94b353e26e Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Fri, 8 Jan 2021 18:50:31 -0500 Subject: [PATCH 11/13] fix formatting --- apps/test-pid/src/main.cpp | 2 +- lib/pid/include/PID.h | 2 +- lib/pid/src/PID.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/apps/test-pid/src/main.cpp b/apps/test-pid/src/main.cpp index 8e2ab75b7..b2b78097e 100644 --- a/apps/test-pid/src/main.cpp +++ b/apps/test-pid/src/main.cpp @@ -16,7 +16,7 @@ constexpr float min_rpm = std::numeric_limits::min(), constexpr float deadzone = 0; constexpr auto pid_period = 1ms; -constexpr float expected_avg_error = 36.897; +constexpr float expected_avg_error = 36.897f; constexpr auto expected_avg_compute_time = 15us; int main() { diff --git a/lib/pid/include/PID.h b/lib/pid/include/PID.h index 5534a07e7..dd1fdb070 100644 --- a/lib/pid/include/PID.h +++ b/lib/pid/include/PID.h @@ -29,7 +29,7 @@ typedef struct Config { float lowerBound, upperBound; float deadzone; bool antiKickback = true; - bool antiWindup = true; + bool antiWindup = true; } Config; class PID { public: diff --git a/lib/pid/src/PID.cpp b/lib/pid/src/PID.cpp index 1ced482fd..1993497e2 100644 --- a/lib/pid/src/PID.cpp +++ b/lib/pid/src/PID.cpp @@ -111,7 +111,7 @@ float PID::PID::compute(float setPoint, float processVariable, float ff) { paths = m_lowerBound; } } else { - paths = std::clamp(paths, m_lowerBound, m_upperBound); // clamp without affecting accumulator + paths = std::clamp(paths, m_lowerBound, m_upperBound); // clamp without affecting accumulator } m_pastError = error; From 0cdd8a0eef0a85ffd5b135c75d43b365e754507e Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Sun, 10 Jan 2021 21:43:55 -0500 Subject: [PATCH 12/13] debug commit (not final commit) --- apps/test-pid/control_anti_kickback.png | Bin 0 -> 96847 bytes apps/test-pid/control_anti_windup.png | Bin 0 -> 87420 bytes .../control_anti_windup_anti_kickback.png | Bin 0 -> 97634 bytes apps/test-pid/control_basic.png | Bin 0 -> 88442 bytes apps/test-pid/include/test_data.h | 11485 ++++++++++++++-- apps/test-pid/matlab_control.png | Bin 0 -> 88111 bytes apps/test-pid/src/delete.txt | 62 - apps/test-pid/src/main.cpp | 40 +- lib/pid/include/PID.h | 3 +- lib/pid/src/PID.cpp | 15 +- 10 files changed, 10316 insertions(+), 1289 deletions(-) create mode 100644 apps/test-pid/control_anti_kickback.png create mode 100644 apps/test-pid/control_anti_windup.png create mode 100644 apps/test-pid/control_anti_windup_anti_kickback.png create mode 100644 apps/test-pid/control_basic.png create mode 100644 apps/test-pid/matlab_control.png delete mode 100644 apps/test-pid/src/delete.txt diff --git a/apps/test-pid/control_anti_kickback.png b/apps/test-pid/control_anti_kickback.png new file mode 100644 index 0000000000000000000000000000000000000000..6a53df549efcae299dbea0816f1ec2c36e01d3ef GIT binary patch literal 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literal 0 HcmV?d00001 diff --git a/apps/test-pid/include/test_data.h b/apps/test-pid/include/test_data.h index 6890516ac..c710d7448 100644 --- a/apps/test-pid/include/test_data.h +++ b/apps/test-pid/include/test_data.h @@ -5,924 +5,5010 @@ #pragma once #include -constexpr std::array control = { - 0.0, 0.2505, 0.70082, 1.1215, 1.55703, 1.98851, 2.42149, 2.85408, 3.28687, 3.71967, 4.15255, - 4.58548, 5.01847, 5.45152, 5.88463, 6.31781, 6.75104, 7.18435, 7.61771, 8.05114, 8.48463, 8.91819, - 9.35182, 9.78551, 10.21927, 10.65309, 11.08699, 11.52095, 11.95498, 12.38908, 12.82325, 13.2575, 13.69181, - 14.12619, 14.56065, 14.99518, 15.42978, 15.86446, 16.29921, 16.73403, 17.16893, 17.6039, 18.03895, 18.47407, - 18.90927, 19.34455, 19.7799, 20.21533, 20.65084, 21.08642, 21.52209, 21.95783, 22.39365, 22.82955, 23.26553, - 23.70159, 24.13773, 24.57395, 25.01025, 25.44663, 25.88309, 26.31963, 26.75625, 27.19296, 27.62975, 28.06662, - 28.50357, 28.9406, 29.37772, 29.81492, 30.2522, 30.68956, 31.12701, 31.56454, 32.00216, 32.43985, 32.87764, - 33.3155, 33.75345, 34.19148, 34.6296, 35.0678, 35.50608, 35.94445, 36.38291, 36.82144, 37.26006, 37.69877, - 38.13756, 38.57643, 39.01539, 39.45443, 39.89355, 40.33276, 40.77206, 41.21143, 41.65089, 42.09044, 42.53006, - 42.96978, 43.40957, 43.84945, 44.28941, 44.72945, 45.16958, 45.60979, 46.05008, 46.49046, 46.93092, 47.37146, - 47.81208, 48.25278, 48.69357, 49.13443, 49.57538, 50.01641, 50.45751, 50.8987, 51.33997, 51.78132, 52.22275, - 52.66426, 53.10585, 53.54751, 53.98926, 54.43108, 54.87298, 55.31496, 55.75701, 56.19914, 56.64135, 57.08364, - 57.526, 57.96844, 58.41095, 58.85354, 59.2962, 59.73893, 60.18174, 60.62462, 61.06758, 61.51061, 61.95371, - 62.39688, 62.84012, 63.28343, 63.72682, 64.17027, 64.61379, 65.05739, 65.50105, 65.94477, 66.38857, 66.83243, - 67.27636, 67.72036, 68.16442, 68.60855, 69.05274, 69.49699, 69.94131, 70.38569, 70.83014, 71.27464, 71.71921, - 72.16384, 72.60852, 73.05327, 73.49808, 73.94294, 74.38787, 74.83285, 75.27788, 75.72298, 76.16813, 76.61333, - 77.05859, 77.5039, 77.94927, 78.39469, 78.84016, 79.28568, 79.73125, 80.17687, 80.62254, 81.06826, 81.51403, - 81.95985, 82.40571, 82.85162, 83.29758, 83.74358, 84.18962, 84.63571, 85.08184, 85.52801, 85.97422, 86.42048, - 86.86677, 87.31311, 87.75948, 87.95539, 87.95152, 87.97732, 87.98832, 88.00339, 88.017, 88.03104, 88.04491, - 88.0588, 88.07265, 88.08647, 88.10027, 88.11403, 88.12776, 88.14145, 88.15512, 88.16874, 88.18233, 88.19588, - 88.20938, 88.22285, 88.23627, 88.24965, 88.26299, 88.27627, 88.28951, 88.3027, 88.31584, 88.32893, 88.34197, - 88.35495, 88.36788, 88.38075, 88.39356, 88.40631, 88.41901, 88.43164, 88.44421, 88.45672, 88.46916, 88.48153, - 88.49384, 88.50609, 88.51826, 88.53036, 88.54239, 88.55435, 88.56624, 88.57805, 88.58978, 88.60144, 88.61303, - 88.62453, 88.63595, 88.64729, 88.65856, 88.66974, 88.68083, 88.69184, 88.70277, 88.71361, 88.72436, 88.73502, - 88.74559, 88.75608, 88.76647, 88.77677, 88.78698, 88.7971, 88.80712, 88.81705, 88.82688, 88.83661, 88.84624, - 88.85578, 88.86522, 88.87456, 88.8838, 88.89293, 88.90197, 88.9109, 88.91972, 88.92845, 88.93707, 88.94558, - 88.95399, 88.96228, 88.97048, 88.97856, 88.98654, 88.9944, 89.00216, 89.0098, 89.01734, 89.02476, 89.03207, - 89.03927, 89.04635, 89.05333, 89.06018, 89.06692, 89.07355, 89.08006, 89.08646, 89.09274, 89.0989, 89.10495, - 89.11087, 89.11668, 89.12238, 89.12795, 89.1334, 89.13874, 89.14395, 89.14905, 89.15402, 89.15888, 89.16361, - 89.16822, 89.17271, 89.17708, 89.18133, 89.18546, 89.18946, 89.19334, 89.1971, 89.20074, 89.20426, 89.20765, - 89.21092, 89.21406, 89.21709, 89.21999, 89.22276, 89.22542, 89.22795, 89.23035, 89.23264, 89.2348, 89.23684, - 89.23875, 89.24054, 89.24221, 89.24375, 89.24518, 89.24647, 89.24765, 89.24871, 89.24964, 89.25045, 89.25113, - 89.2517, 89.25214, 89.25246, 89.25266, 89.25274, 89.2527, 89.25253, 89.25225, 89.25184, 89.25132, 89.25068, - 89.24991, 89.24903, 89.24803, 89.24691, 89.24567, 89.24432, 89.24284, 89.24125, 89.23955, 89.23772, 89.23578, - 89.23373, 89.23156, 89.22928, 89.22688, 89.22437, 89.22174, 89.219, 89.21615, 89.21319, 89.21012, 89.20694, - 89.20364, 89.20024, 89.19673, 89.19311, 89.18938, 89.18554, 89.1816, 89.17755, 89.1734, 89.16914, 89.16477, - 89.16031, 89.15574, 89.15106, 89.14629, 89.14142, 89.13644, 89.13137, 89.12619, 89.12092, 89.11555, 89.11009, - 89.10452, 89.09887, 89.09312, 89.08727, 89.08133, 89.0753, 89.06918, 89.06297, 89.05667, 89.05028, 89.0438, - 89.03723, 89.03058, 89.02384, 89.01702, 89.01011, 89.00312, 88.99605, 88.98889, 88.98166, 88.97434, 88.96695, - 88.95948, 88.95193, 88.94431, 88.93661, 88.92884, 88.92099, 88.91307, 88.90508, 88.89702, 88.88889, 88.8807, - 88.87243, 88.8641, 88.8557, 88.84724, 88.83871, 88.83012, 88.82147, 88.81276, 88.80399, 88.79516, 88.78628, - 88.77733, 88.76833, 88.75928, 88.75017, 88.74101, 88.7318, 88.72253, 88.71322, 88.70386, 88.69445, 88.685, - 88.6755, 88.66595, 88.65637, 88.64674, 88.63707, 88.62735, 88.6176, 88.60782, 88.59799, 88.58813, 88.57823, - 88.5683, 88.55834, 88.54835, 88.53832, 88.52827, 88.51819, 88.50808, 88.49794, 88.48778, 88.47759, 88.46739, - 88.45716, 88.44691, 88.43663, 88.42634, 88.41604, 88.40571, 88.39537, 88.38502, 88.37465, 88.36427, 88.35388, - 88.34348, 88.33307, 88.32265, 88.31223, 88.3018, 88.29136, 88.03042, 87.56966, 87.13853, 86.69256, 86.25064, - 85.80721, 85.36419, 84.92096, 84.47773, 84.03443, 83.59108, 83.14768, 82.70422, 82.26072, 81.81716, 81.37356, - 80.9299, 80.48619, 80.04243, 79.59863, 79.15478, 78.71087, 78.26693, 77.82293, 77.37889, 76.9348, 76.49066, - 76.04649, 75.60226, 75.15799, 74.71368, 74.26933, 73.82493, 73.38049, 72.93601, 72.49148, 72.04692, 71.60232, - 71.15767, 70.71299, 70.26827, 69.82351, 69.37872, 68.93388, 68.48901, 68.04411, 67.59916, 67.15419, 66.70918, - 66.26413, 65.81905, 65.37394, 64.9288, 64.48363, 64.03842, 63.59319, 63.14792, 62.70262, 62.2573, 61.81195, - 61.36657, 60.92116, 60.47573, 60.03027, 59.58478, 59.13927, 58.69374, 58.24818, 57.8026, 57.357, 56.91137, - 56.46573, 56.02006, 55.57437, 55.12866, 54.68294, 54.23719, 53.79143, 53.34565, 52.89985, 52.45404, 52.00821, - 51.56237, 51.11651, 50.67064, 50.22476, 49.77886, 49.33295, 48.88703, 48.4411, 47.99516, 47.54921, 47.10325, - 46.65729, 46.21131, 45.76533, 45.31934, 44.87334, 44.42734, 43.98134, 43.53533, 43.08931, 42.6433, 42.19728, - 41.75126, 41.30523, 40.85921, 40.41319, 39.96717, 39.52114, 39.07512, 38.62911, 38.18309, 37.73708, 37.29107, - 36.84507, 36.39907, 35.95307, 35.50709, 35.06111, 34.61513, 34.16917, 33.72321, 33.27726, 32.83132, 32.3854, - 31.93948, 31.49357, 31.04768, 30.60179, 30.15592, 29.71007, 29.26422, 28.8184, 28.37258, 27.92678, 27.481, - 27.03524, 26.58949, 26.14376, 25.69804, 25.25235, 24.80668, 24.36102, 23.91538, 23.46977, 23.02418, 22.5786, - 22.13305, 21.68753, 21.24202, 20.79654, 20.35109, 19.90565, 19.46025, 19.01486, 18.56951, 18.12418, 17.67888, - 17.2336, 16.78835, 16.34314, 15.89794, 15.45278, 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5.12781, 5.18228, 5.23612, 5.28933, 5.3419, 5.39383, - 5.44512, 5.49576, 5.54574, 5.59507, 5.64374, 5.69175, 5.73909, 5.78576, 5.83176, 5.87707, 5.92171, - 5.96567, 6.00893, 6.05151, 6.0934, 6.13459, 6.17508, 6.21487, 6.25395, 6.29233, 6.33, 6.36696, - 6.4032, 6.43873, 6.47354, 6.50763, 6.541, 6.57364, 6.60555, 6.63674, 6.6672, 6.69693, 6.72592, - 6.75418, 6.7817, 6.80848, 6.83453, 6.85983, 6.8844, 6.90822, 6.9313, 6.95363, 6.97522, 6.99606, - 7.01616, 7.03551, 7.05412, 7.07197, 7.08908, 7.10544, 7.12104, 7.1359, 7.15002, 7.16338, 7.17599, - 7.18786, 7.19897, 7.20934, 7.21896, 7.22784, 7.23596, 7.24334, 7.24998, 7.25587, 7.26101, 7.26542, - 7.26908, 7.272, 7.27418, 7.27562, 7.27633, 7.2763, 7.27553, 7.27403, 7.2718, 7.26884, 7.26515, - 7.26074, 7.2556, 7.24974, 7.24316, 7.23586, 7.22784, 7.21911, 7.20967, 7.19951, 7.18865, 7.17709, - 7.16482, 7.15185, 7.13819, 7.12383, 7.10878, 7.09304, 7.07662, 7.05951, 7.04172, 7.02331, 7.0043, - 6.9847, 6.9645, 6.9437, 6.92232, 6.90036, 6.87782, 6.85471, 6.83104, 6.80679, 6.782, 6.75664, - 6.73074, 6.7043, 6.67733, 6.64982, 6.62178, 6.59323, 6.56416, 6.53459, 6.50451, 6.47393, 6.44287, - 6.41132, 6.3793, 6.3468, 6.31384, 6.28043, 6.24656, 6.21225, 6.1775, 6.14231, 6.10671, 6.07069, - 6.03426, 5.99743, 5.9602, 5.92259, 5.88459, 5.84623, 5.8075, 5.76841, 5.72897, 5.68919, 5.64908, - 5.60864, 5.56789, 5.52682, 5.48546, 5.4438, 5.40185, 5.35963, 5.31715, 5.2744, 5.2314, 5.18816, - 5.14469, 5.10099, 5.05707, 5.01295, 4.96863, 4.92412, 4.87943, 4.83457, 4.78954, 4.74437, 4.69904, - 4.65359, 4.60801, 4.56231, 4.51651, 4.4706, 4.42462, 4.37855, 4.33241, 4.28622, 4.23997, 4.19369, - 4.14737, 4.10104, 4.05469, 4.00834, 3.962, 3.91569, 3.86939, 3.82314, 3.77694, 3.73079, 3.68472, - 3.63872, 3.59281, 3.547, 3.5013, 3.45571, 3.41026, 3.36494, 3.31978, 3.27477, 3.22993, 3.18528, - 3.14081, 3.09654, 3.05249, 3.00865, 2.96505, 2.92168, 2.87857, 2.83572, 2.79314, 2.75085, 2.70884, - 2.66714, 2.62576, 2.5847, 2.54397, 2.50358, 2.46355, 2.42388, 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2.42135, 2.476, 2.5318, 2.58876, 2.64687, - 2.70615, 2.76659, 2.82819, 2.89096, 2.95489, 3.02, 3.08627, 3.15371, 3.22233, 3.29212, 3.36308, - 3.43522, 3.50853, 3.58301, 3.65868, 3.73552, 3.81353, 3.89272, 3.97309, 4.05463, 4.13734, 4.22124, - 4.3063, 4.39254, 4.47995, 4.56853, 4.65828, 4.7492, 4.84129, 4.93454, 5.02896, 5.12455, 5.22129, - 5.31919, 5.41825, 5.51847, 5.61983, 5.72235, 5.82602, 5.93083, 6.03678, 6.14388, 6.25211, 6.36148, - 6.47197, 6.5836, 6.69634, 6.81021, 6.9252, 7.0413, 7.15851, 7.27683, 7.39625, 7.51676, 7.63837, - 7.76107, 7.88486, 8.00972, 8.13566, 8.26268, 8.39075, 8.5199, 8.65009, 8.78134, 8.91364, 9.04697, - 9.18135, 9.31675, 9.45318, 9.59062, 9.72909, 9.86855, 10.00902, 10.15049, 10.29294, 10.43638, 10.58079, - 10.72618, 10.87253, 11.01984, 11.1681, 11.3173, 11.46744, 11.61851, 11.77051, 11.92342, 12.07724, 12.23196, - 12.38758, 12.54409, 12.70148, 12.85974, 13.01886, 13.17885, 13.33968, 13.50136, 13.66387, 13.82721, 13.99136, - 14.15633, 14.3221, 14.48866, 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59.33681, 59.36694, 59.39594, 59.42383, 59.45061, 59.47627, 59.50083, 59.52427, - 59.5466, 59.56783, 59.58796, 59.60698, 59.62491, 59.64174, 59.65747, 59.67211, 59.68566, 59.69812, 59.70949, - 59.71978, 59.72899, 59.73712, 59.74418, 59.75016, 59.75507, 59.75892, 59.7617, 59.76342, 59.76408, 59.76368, - 59.76223, 59.75973, 59.75618, 59.75159, 59.74596, 59.73929, 59.73159, 59.72286, 59.7131, 59.70232, 59.69052, - 59.6777, 59.66387, 59.64903, 59.63318, 59.61633, 59.59849, 59.57965, 59.55982, 59.539, 59.5172, 59.49442, - 59.47067, 59.44595, 59.42026, 59.39361, 59.366, 59.33744, 59.30793, 59.27747, 59.24608, 59.21374, 59.18048, - 59.14628, 59.11117, 59.07513, 59.03819, 59.00033, 58.96162, 58.92209, 58.88173, 58.84056, 58.79857, 58.75577, - 58.71217, 58.66778, 58.62259, 58.57663, 58.52988, 58.48237, 58.43409, 58.38505, 58.33526, 58.28472, 58.23344, - 58.18144, 58.1287, 58.07525, 58.02108, 57.96621, 57.91064, 57.85438, 57.79743, 57.7398, 57.68151, 57.62255, - 57.56294, 57.50267, 57.44177, 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43.45187, 43.41994, 43.38873, 43.35824, 43.32849, 43.29946, 43.27117, 43.24362, 43.21679, - 43.19071, 43.16536, 43.14075, 43.11688, 43.09375, 43.07136, 43.04972, 43.02882, 43.00866, 42.98925, 42.97058, - 42.95266, 42.93548, 42.91905, 42.90337, 42.88843, 42.87424, 42.86079, 42.8481, 42.83615, 42.82494, 42.81448, - 42.80477, 42.7958, 42.78758, 42.7801, 42.77336, 42.76737, 42.76212, 42.75761, 42.75383, 42.7508, 42.74851, - 42.74695, 42.74612, 42.74604, 42.74668, 42.74805, 42.75016, 42.75299, 42.75655, 42.76083, 42.76583, 42.77156, - 42.778, 42.78516, 42.79304, 42.80163, 42.81092, 42.82093, 42.83164, 42.84306, 42.85517, 42.86798, 42.88149, - 42.89569, 42.91058, 42.92616, 42.94242, 42.95937, 42.97699, 42.99529, -}; +constexpr std::array control = {0, + 0.2505, + 0.700821671, + 1.121503736, + 1.557029972, + 1.988512814, + 2.421494934, + 2.85407775, + 3.286869215, + 3.719669839, + 4.152545349, + 4.585475091, + 5.018466636, + 5.451518337, + 5.884631547, + 6.317806629, + 6.751044259, + 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-1.563158364, + -1.553029555, + -1.542763444, + -1.532361332, + -1.521824531, + -1.511154363, + -1.500352162, + -1.489419273, + -1.478357051, + -1.467166861, + -1.455850079, + -1.444408091, + -1.432842294, + -1.421154092, + -1.409344902, + -1.397416148, + -1.385369264, + -1.373205695, + -1.360926891, + -1.348534315, + -1.336029437, + -1.323413735, + -1.310688695, + -1.297855813, + -1.284916592, + -1.271872542, + -1.258725182, + -1.245476038, + -1.232126643, + -1.218678538, + -1.205133271, + -1.191492395, + -1.177757472, + -1.163930069, + -1.15001176, + -1.136004125, + -1.121908751, + -1.107727227, + -1.093461153, + -1.079112131, + -1.064681769, + -1.050171681, + -1.035583484, + -1.020918802, + -1.006179262, + -0.991366496, + -0.97648214, + -0.961527835, + -0.946505226, + -0.931415959, + -0.916261687, + -0.901044065, + -0.88576475, + -0.870425404, + -0.855027691, + -0.839573277, + -0.824063832, + -0.808501028, + -0.792886538, + -0.777222038, + -0.761509206, + -0.74574972, + -0.729945262, + -0.714097514, + -0.698208158, + -0.68227888, + -0.666311363, + -0.650307293, + -0.634268357, + -0.618196241, + -0.60209263, + -0.585959212, + -0.569797672, + -0.553609697, + -0.53739697, + -0.521161177, + -0.504904001, + -0.488627124, + -0.472332228, + -0.456020991, + -0.439695093, + -0.42335621, + -0.407006015, + -0.390646182, + -0.374278381, + -0.357904279, + -0.341525541, + -0.325143831, + -0.308760806, + -0.292378125, + -0.27599744, + -0.2596204, + -0.243248653, + -0.226883841, + -0.210527603, + -0.194181572, + -0.177847381, + -0.161526655, + -0.145221016, + -0.128932081, + -0.112661463, + -0.096410768, + -0.080181599, + -0.063975553, + -0.047794222, + -0.031639191, + -0.015512041, + 0.000585654, + 0.016652324, + 0.032686409, + 0.048686351, + 0.064650602, + 0.080577617, + 0.096465862, + 0.112313806, + 0.128119927, + 0.14388271, + 0.159600648, + 0.175272238, + 0.190895989, + 0.206470415, + 0.221994039, + 0.237465391, + 0.25288301, + 0.268245442, + 0.283551244, + 0.298798979, + 0.313987219, + 0.329114545, + 0.344179547, + 0.359180825, + 0.374116986, + 0.388986648, + 0.403788438, + 0.418520991, + 0.433182955, + 0.447772983, + 0.462289742, + 0.476731908, + 0.491098165, + 0.50538721, + 0.519597747, + 0.533728495, + 0.547778179, + 0.561745537, + 0.575629318, + 0.58942828, + 0.603141194, + 0.616766841, + 0.630304013, + 0.643751514, + 0.657108159, + 0.670372773, + 0.683544195, + 0.696621275, + 0.709602873, + 0.722487863, + 0.73527513, + 0.747963571, + 0.760552095, + 0.773039624, + 0.78542509, + 0.79770744, + 0.809885633, + 0.821958639, + 0.833925441, + 0.845785037, + 0.857536434, + 0.869178655, + 0.880710734, + 0.89213172, + 0.903440672, + 0.914636664, + 0.925718784, + 0.936686132, + 0.947537821, + 0.958272978}; constexpr std::array setpoint = { - 0.0, 0.00025, 0.001, 0.00225, 0.004, 0.00625, 0.009, 0.01225, 0.016, 0.02025, 0.025, + 0, 0.00025, 0.001, 0.00225, 0.004, 0.00625, 0.009, 0.01225, 0.016, 0.02025, 0.025, 0.03025, 0.036, 0.04225, 0.049, 0.05625, 0.064, 0.07225, 0.081, 0.09025, 0.1, 0.11025, 0.121, 0.13225, 0.144, 0.15625, 0.169, 0.18225, 0.196, 0.21025, 0.225, 0.24025, 0.256, 0.27225, 0.289, 0.30625, 0.324, 0.34225, 0.361, 0.38025, 0.4, 0.42025, 0.441, 0.46225, @@ -940,34 +5026,34 @@ constexpr std::array setpoint = { 6.80625, 6.889, 6.97225, 7.056, 7.14025, 7.225, 7.31025, 7.396, 7.48225, 7.569, 7.65625, 7.744, 7.83225, 7.921, 8.01025, 8.1, 8.19025, 8.281, 8.37225, 8.464, 8.55625, 8.649, 8.74225, 8.836, 8.93025, 9.025, 9.12025, 9.216, 9.31225, 9.409, 9.50625, 9.604, 9.70225, - 9.801, 9.90025, 10.0, 10.1, 10.2, 10.3, 10.4, 10.5, 10.6, 10.7, 10.8, - 10.9, 11.0, 11.1, 11.2, 11.3, 11.4, 11.5, 11.6, 11.7, 11.8, 11.9, - 12.0, 12.1, 12.2, 12.3, 12.4, 12.5, 12.6, 12.7, 12.8, 12.9, 13.0, - 13.1, 13.2, 13.3, 13.4, 13.5, 13.6, 13.7, 13.8, 13.9, 14.0, 14.1, - 14.2, 14.3, 14.4, 14.5, 14.6, 14.7, 14.8, 14.9, 15.0, 15.1, 15.2, - 15.3, 15.4, 15.5, 15.6, 15.7, 15.8, 15.9, 16.0, 16.1, 16.2, 16.3, - 16.4, 16.5, 16.6, 16.7, 16.8, 16.9, 17.0, 17.1, 17.2, 17.3, 17.4, - 17.5, 17.6, 17.7, 17.8, 17.9, 18.0, 18.1, 18.2, 18.3, 18.4, 18.5, - 18.6, 18.7, 18.8, 18.9, 19.0, 19.1, 19.2, 19.3, 19.4, 19.5, 19.6, - 19.7, 19.8, 19.9, 20.0, 20.1, 20.2, 20.3, 20.4, 20.5, 20.6, 20.7, - 20.8, 20.9, 21.0, 21.1, 21.2, 21.3, 21.4, 21.5, 21.6, 21.7, 21.8, - 21.9, 22.0, 22.1, 22.2, 22.3, 22.4, 22.5, 22.6, 22.7, 22.8, 22.9, - 23.0, 23.1, 23.2, 23.3, 23.4, 23.5, 23.6, 23.7, 23.8, 23.9, 24.0, - 24.1, 24.2, 24.3, 24.4, 24.5, 24.6, 24.7, 24.8, 24.9, 25.0, 25.1, - 25.2, 25.3, 25.4, 25.5, 25.6, 25.7, 25.8, 25.9, 26.0, 26.1, 26.2, - 26.3, 26.4, 26.5, 26.6, 26.7, 26.8, 26.9, 27.0, 27.1, 27.2, 27.3, - 27.4, 27.5, 27.6, 27.7, 27.8, 27.9, 28.0, 28.1, 28.2, 28.3, 28.4, - 28.5, 28.6, 28.7, 28.8, 28.9, 29.0, 29.1, 29.2, 29.3, 29.4, 29.5, - 29.6, 29.7, 29.8, 29.9, 30.0, 30.1, 30.2, 30.3, 30.4, 30.5, 30.6, - 30.7, 30.8, 30.9, 31.0, 31.1, 31.2, 31.3, 31.4, 31.5, 31.6, 31.7, - 31.8, 31.9, 32.0, 32.1, 32.2, 32.3, 32.4, 32.5, 32.6, 32.7, 32.8, - 32.9, 33.0, 33.1, 33.2, 33.3, 33.4, 33.5, 33.6, 33.7, 33.8, 33.9, - 34.0, 34.1, 34.2, 34.3, 34.4, 34.5, 34.6, 34.7, 34.8, 34.9, 35.0, - 35.1, 35.2, 35.3, 35.4, 35.5, 35.6, 35.7, 35.8, 35.9, 36.0, 36.1, - 36.2, 36.3, 36.4, 36.5, 36.6, 36.7, 36.8, 36.9, 37.0, 37.1, 37.2, - 37.3, 37.4, 37.5, 37.6, 37.7, 37.8, 37.9, 38.0, 38.1, 38.2, 38.3, - 38.4, 38.5, 38.6, 38.7, 38.8, 38.9, 39.0, 39.1, 39.2, 39.3, 39.4, - 39.5, 39.6, 39.7, 39.8, 39.9, 40.0, 40.09975, 40.199, 40.29775, 40.396, 40.49375, + 9.801, 9.90025, 10, 10.1, 10.2, 10.3, 10.4, 10.5, 10.6, 10.7, 10.8, + 10.9, 11, 11.1, 11.2, 11.3, 11.4, 11.5, 11.6, 11.7, 11.8, 11.9, + 12, 12.1, 12.2, 12.3, 12.4, 12.5, 12.6, 12.7, 12.8, 12.9, 13, + 13.1, 13.2, 13.3, 13.4, 13.5, 13.6, 13.7, 13.8, 13.9, 14, 14.1, + 14.2, 14.3, 14.4, 14.5, 14.6, 14.7, 14.8, 14.9, 15, 15.1, 15.2, + 15.3, 15.4, 15.5, 15.6, 15.7, 15.8, 15.9, 16, 16.1, 16.2, 16.3, + 16.4, 16.5, 16.6, 16.7, 16.8, 16.9, 17, 17.1, 17.2, 17.3, 17.4, + 17.5, 17.6, 17.7, 17.8, 17.9, 18, 18.1, 18.2, 18.3, 18.4, 18.5, + 18.6, 18.7, 18.8, 18.9, 19, 19.1, 19.2, 19.3, 19.4, 19.5, 19.6, + 19.7, 19.8, 19.9, 20, 20.1, 20.2, 20.3, 20.4, 20.5, 20.6, 20.7, + 20.8, 20.9, 21, 21.1, 21.2, 21.3, 21.4, 21.5, 21.6, 21.7, 21.8, + 21.9, 22, 22.1, 22.2, 22.3, 22.4, 22.5, 22.6, 22.7, 22.8, 22.9, + 23, 23.1, 23.2, 23.3, 23.4, 23.5, 23.6, 23.7, 23.8, 23.9, 24, + 24.1, 24.2, 24.3, 24.4, 24.5, 24.6, 24.7, 24.8, 24.9, 25, 25.1, + 25.2, 25.3, 25.4, 25.5, 25.6, 25.7, 25.8, 25.9, 26, 26.1, 26.2, + 26.3, 26.4, 26.5, 26.6, 26.7, 26.8, 26.9, 27, 27.1, 27.2, 27.3, + 27.4, 27.5, 27.6, 27.7, 27.8, 27.9, 28, 28.1, 28.2, 28.3, 28.4, + 28.5, 28.6, 28.7, 28.8, 28.9, 29, 29.1, 29.2, 29.3, 29.4, 29.5, + 29.6, 29.7, 29.8, 29.9, 30, 30.1, 30.2, 30.3, 30.4, 30.5, 30.6, + 30.7, 30.8, 30.9, 31, 31.1, 31.2, 31.3, 31.4, 31.5, 31.6, 31.7, + 31.8, 31.9, 32, 32.1, 32.2, 32.3, 32.4, 32.5, 32.6, 32.7, 32.8, + 32.9, 33, 33.1, 33.2, 33.3, 33.4, 33.5, 33.6, 33.7, 33.8, 33.9, + 34, 34.1, 34.2, 34.3, 34.4, 34.5, 34.6, 34.7, 34.8, 34.9, 35, + 35.1, 35.2, 35.3, 35.4, 35.5, 35.6, 35.7, 35.8, 35.9, 36, 36.1, + 36.2, 36.3, 36.4, 36.5, 36.6, 36.7, 36.8, 36.9, 37, 37.1, 37.2, + 37.3, 37.4, 37.5, 37.6, 37.7, 37.8, 37.9, 38, 38.1, 38.2, 38.3, + 38.4, 38.5, 38.6, 38.7, 38.8, 38.9, 39, 39.1, 39.2, 39.3, 39.4, + 39.5, 39.6, 39.7, 39.8, 39.9, 40, 40.09975, 40.199, 40.29775, 40.396, 40.49375, 40.591, 40.68775, 40.784, 40.87975, 40.975, 41.06975, 41.164, 41.25775, 41.351, 41.44375, 41.536, 41.62775, 41.719, 41.80975, 41.9, 41.98975, 42.079, 42.16775, 42.256, 42.34375, 42.431, 42.51775, 42.604, 42.68975, 42.775, 42.85975, 42.944, 43.02775, 43.111, 43.19375, 43.276, 43.35775, 43.439, @@ -985,35 +5071,35 @@ constexpr std::array setpoint = { 49.6, 49.61975, 49.639, 49.65775, 49.676, 49.69375, 49.711, 49.72775, 49.744, 49.75975, 49.775, 49.78975, 49.804, 49.81775, 49.831, 49.84375, 49.856, 49.86775, 49.879, 49.88975, 49.9, 49.90975, 49.919, 49.92775, 49.936, 49.94375, 49.951, 49.95775, 49.964, 49.96975, 49.975, 49.97975, 49.984, - 49.98775, 49.991, 49.99375, 49.996, 49.99775, 49.999, 49.99975, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 49.99975, 49.999, 49.99775, 49.996, 49.99375, 49.991, 49.98775, 49.984, 49.97975, 49.975, + 49.98775, 49.991, 49.99375, 49.996, 49.99775, 49.999, 49.99975, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 49.99975, 49.999, 49.99775, 49.996, 49.99375, 49.991, 49.98775, 49.984, 49.97975, 49.975, 49.96975, 49.964, 49.95775, 49.951, 49.94375, 49.936, 49.92775, 49.919, 49.90975, 49.9, 49.88975, 49.879, 49.86775, 49.856, 49.84375, 49.831, 49.81775, 49.804, 49.78975, 49.775, 49.75975, 49.744, 49.72775, 49.711, 49.69375, 49.676, 49.65775, 49.639, 49.61975, 49.6, 49.57975, 49.559, 49.53775, @@ -1031,34 +5117,34 @@ constexpr std::array setpoint = { 43.19375, 43.111, 43.02775, 42.944, 42.85975, 42.775, 42.68975, 42.604, 42.51775, 42.431, 42.34375, 42.256, 42.16775, 42.079, 41.98975, 41.9, 41.80975, 41.719, 41.62775, 41.536, 41.44375, 41.351, 41.25775, 41.164, 41.06975, 40.975, 40.87975, 40.784, 40.68775, 40.591, 40.49375, 40.396, 40.29775, - 40.199, 40.09975, 40.0, 39.9, 39.8, 39.7, 39.6, 39.5, 39.4, 39.3, 39.2, - 39.1, 39.0, 38.9, 38.8, 38.7, 38.6, 38.5, 38.4, 38.3, 38.2, 38.1, - 38.0, 37.9, 37.8, 37.7, 37.6, 37.5, 37.4, 37.3, 37.2, 37.1, 37.0, - 36.9, 36.8, 36.7, 36.6, 36.5, 36.4, 36.3, 36.2, 36.1, 36.0, 35.9, - 35.8, 35.7, 35.6, 35.5, 35.4, 35.3, 35.2, 35.1, 35.0, 34.9, 34.8, - 34.7, 34.6, 34.5, 34.4, 34.3, 34.2, 34.1, 34.0, 33.9, 33.8, 33.7, - 33.6, 33.5, 33.4, 33.3, 33.2, 33.1, 33.0, 32.9, 32.8, 32.7, 32.6, - 32.5, 32.4, 32.3, 32.2, 32.1, 32.0, 31.9, 31.8, 31.7, 31.6, 31.5, - 31.4, 31.3, 31.2, 31.1, 31.0, 30.9, 30.8, 30.7, 30.6, 30.5, 30.4, - 30.3, 30.2, 30.1, 30.0, 29.9, 29.8, 29.7, 29.6, 29.5, 29.4, 29.3, - 29.2, 29.1, 29.0, 28.9, 28.8, 28.7, 28.6, 28.5, 28.4, 28.3, 28.2, - 28.1, 28.0, 27.9, 27.8, 27.7, 27.6, 27.5, 27.4, 27.3, 27.2, 27.1, - 27.0, 26.9, 26.8, 26.7, 26.6, 26.5, 26.4, 26.3, 26.2, 26.1, 26.0, - 25.9, 25.8, 25.7, 25.6, 25.5, 25.4, 25.3, 25.2, 25.1, 25.0, 24.9, - 24.8, 24.7, 24.6, 24.5, 24.4, 24.3, 24.2, 24.1, 24.0, 23.9, 23.8, - 23.7, 23.6, 23.5, 23.4, 23.3, 23.2, 23.1, 23.0, 22.9, 22.8, 22.7, - 22.6, 22.5, 22.4, 22.3, 22.2, 22.1, 22.0, 21.9, 21.8, 21.7, 21.6, - 21.5, 21.4, 21.3, 21.2, 21.1, 21.0, 20.9, 20.8, 20.7, 20.6, 20.5, - 20.4, 20.3, 20.2, 20.1, 20.0, 19.9, 19.8, 19.7, 19.6, 19.5, 19.4, - 19.3, 19.2, 19.1, 19.0, 18.9, 18.8, 18.7, 18.6, 18.5, 18.4, 18.3, - 18.2, 18.1, 18.0, 17.9, 17.8, 17.7, 17.6, 17.5, 17.4, 17.3, 17.2, - 17.1, 17.0, 16.9, 16.8, 16.7, 16.6, 16.5, 16.4, 16.3, 16.2, 16.1, - 16.0, 15.9, 15.8, 15.7, 15.6, 15.5, 15.4, 15.3, 15.2, 15.1, 15.0, - 14.9, 14.8, 14.7, 14.6, 14.5, 14.4, 14.3, 14.2, 14.1, 14.0, 13.9, - 13.8, 13.7, 13.6, 13.5, 13.4, 13.3, 13.2, 13.1, 13.0, 12.9, 12.8, - 12.7, 12.6, 12.5, 12.4, 12.3, 12.2, 12.1, 12.0, 11.9, 11.8, 11.7, - 11.6, 11.5, 11.4, 11.3, 11.2, 11.1, 11.0, 10.9, 10.8, 10.7, 10.6, - 10.5, 10.4, 10.3, 10.2, 10.1, 10.0, 9.90025, 9.801, 9.70225, 9.604, 9.50625, + 40.199, 40.09975, 40, 39.9, 39.8, 39.7, 39.6, 39.5, 39.4, 39.3, 39.2, + 39.1, 39, 38.9, 38.8, 38.7, 38.6, 38.5, 38.4, 38.3, 38.2, 38.1, + 38, 37.9, 37.8, 37.7, 37.6, 37.5, 37.4, 37.3, 37.2, 37.1, 37, + 36.9, 36.8, 36.7, 36.6, 36.5, 36.4, 36.3, 36.2, 36.1, 36, 35.9, + 35.8, 35.7, 35.6, 35.5, 35.4, 35.3, 35.2, 35.1, 35, 34.9, 34.8, + 34.7, 34.6, 34.5, 34.4, 34.3, 34.2, 34.1, 34, 33.9, 33.8, 33.7, + 33.6, 33.5, 33.4, 33.3, 33.2, 33.1, 33, 32.9, 32.8, 32.7, 32.6, + 32.5, 32.4, 32.3, 32.2, 32.1, 32, 31.9, 31.8, 31.7, 31.6, 31.5, + 31.4, 31.3, 31.2, 31.1, 31, 30.9, 30.8, 30.7, 30.6, 30.5, 30.4, + 30.3, 30.2, 30.1, 30, 29.9, 29.8, 29.7, 29.6, 29.5, 29.4, 29.3, + 29.2, 29.1, 29, 28.9, 28.8, 28.7, 28.6, 28.5, 28.4, 28.3, 28.2, + 28.1, 28, 27.9, 27.8, 27.7, 27.6, 27.5, 27.4, 27.3, 27.2, 27.1, + 27, 26.9, 26.8, 26.7, 26.6, 26.5, 26.4, 26.3, 26.2, 26.1, 26, + 25.9, 25.8, 25.7, 25.6, 25.5, 25.4, 25.3, 25.2, 25.1, 25, 24.9, + 24.8, 24.7, 24.6, 24.5, 24.4, 24.3, 24.2, 24.1, 24, 23.9, 23.8, + 23.7, 23.6, 23.5, 23.4, 23.3, 23.2, 23.1, 23, 22.9, 22.8, 22.7, + 22.6, 22.5, 22.4, 22.3, 22.2, 22.1, 22, 21.9, 21.8, 21.7, 21.6, + 21.5, 21.4, 21.3, 21.2, 21.1, 21, 20.9, 20.8, 20.7, 20.6, 20.5, + 20.4, 20.3, 20.2, 20.1, 20, 19.9, 19.8, 19.7, 19.6, 19.5, 19.4, + 19.3, 19.2, 19.1, 19, 18.9, 18.8, 18.7, 18.6, 18.5, 18.4, 18.3, + 18.2, 18.1, 18, 17.9, 17.8, 17.7, 17.6, 17.5, 17.4, 17.3, 17.2, + 17.1, 17, 16.9, 16.8, 16.7, 16.6, 16.5, 16.4, 16.3, 16.2, 16.1, + 16, 15.9, 15.8, 15.7, 15.6, 15.5, 15.4, 15.3, 15.2, 15.1, 15, + 14.9, 14.8, 14.7, 14.6, 14.5, 14.4, 14.3, 14.2, 14.1, 14, 13.9, + 13.8, 13.7, 13.6, 13.5, 13.4, 13.3, 13.2, 13.1, 13, 12.9, 12.8, + 12.7, 12.6, 12.5, 12.4, 12.3, 12.2, 12.1, 12, 11.9, 11.8, 11.7, + 11.6, 11.5, 11.4, 11.3, 11.2, 11.1, 11, 10.9, 10.8, 10.7, 10.6, + 10.5, 10.4, 10.3, 10.2, 10.1, 10, 9.90025, 9.801, 9.70225, 9.604, 9.50625, 9.409, 9.31225, 9.216, 9.12025, 9.025, 8.93025, 8.836, 8.74225, 8.649, 8.55625, 8.464, 8.37225, 8.281, 8.19025, 8.1, 8.01025, 7.921, 7.83225, 7.744, 7.65625, 7.569, 7.48225, 7.396, 7.31025, 7.225, 7.14025, 7.056, 6.97225, 6.889, 6.80625, 6.724, 6.64225, 6.561, @@ -1076,34 +5162,34 @@ constexpr std::array setpoint = { 0.4, 0.38025, 0.361, 0.34225, 0.324, 0.30625, 0.289, 0.27225, 0.256, 0.24025, 0.225, 0.21025, 0.196, 0.18225, 0.169, 0.15625, 0.144, 0.13225, 0.121, 0.11025, 0.1, 0.09025, 0.081, 0.07225, 0.064, 0.05625, 0.049, 0.04225, 0.036, 0.03025, 0.025, 0.02025, 0.016, - 0.01225, 0.009, 0.00625, 0.004, 0.00225, 0.001, 0.00025, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00025, + 0.01225, 0.009, 0.00625, 0.004, 0.00225, 0.001, 0.00025, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00025, 0.001, 0.00225, 0.004, 0.00625, 0.009, 0.01225, 0.016, 0.02025, 0.025, 0.03025, 0.036, 0.04225, 0.049, 0.05625, 0.064, 0.07225, 0.081, 0.09025, 0.1, 0.11025, 0.121, 0.13225, 0.144, 0.15625, 0.169, 0.18225, 0.196, 0.21025, 0.225, 0.24025, 0.256, 0.27225, 0.289, @@ -1122,34 +5208,34 @@ constexpr std::array setpoint = { 6.97225, 7.056, 7.14025, 7.225, 7.31025, 7.396, 7.48225, 7.569, 7.65625, 7.744, 7.83225, 7.921, 8.01025, 8.1, 8.19025, 8.281, 8.37225, 8.464, 8.55625, 8.649, 8.74225, 8.836, 8.93025, 9.025, 9.12025, 9.216, 9.31225, 9.409, 9.50625, 9.604, 9.70225, 9.801, 9.90025, - 10.0, 10.1, 10.2, 10.3, 10.4, 10.5, 10.6, 10.7, 10.8, 10.9, 11.0, - 11.1, 11.2, 11.3, 11.4, 11.5, 11.6, 11.7, 11.8, 11.9, 12.0, 12.1, - 12.2, 12.3, 12.4, 12.5, 12.6, 12.7, 12.8, 12.9, 13.0, 13.1, 13.2, - 13.3, 13.4, 13.5, 13.6, 13.7, 13.8, 13.9, 14.0, 14.1, 14.2, 14.3, - 14.4, 14.5, 14.6, 14.7, 14.8, 14.9, 15.0, 15.1, 15.2, 15.3, 15.4, - 15.5, 15.6, 15.7, 15.8, 15.9, 16.0, 16.1, 16.2, 16.3, 16.4, 16.5, - 16.6, 16.7, 16.8, 16.9, 17.0, 17.1, 17.2, 17.3, 17.4, 17.5, 17.6, - 17.7, 17.8, 17.9, 18.0, 18.1, 18.2, 18.3, 18.4, 18.5, 18.6, 18.7, - 18.8, 18.9, 19.0, 19.1, 19.2, 19.3, 19.4, 19.5, 19.6, 19.7, 19.8, - 19.9, 20.0, 20.1, 20.2, 20.3, 20.4, 20.5, 20.6, 20.7, 20.8, 20.9, - 21.0, 21.1, 21.2, 21.3, 21.4, 21.5, 21.6, 21.7, 21.8, 21.9, 22.0, - 22.1, 22.2, 22.3, 22.4, 22.5, 22.6, 22.7, 22.8, 22.9, 23.0, 23.1, - 23.2, 23.3, 23.4, 23.5, 23.6, 23.7, 23.8, 23.9, 24.0, 24.1, 24.2, - 24.3, 24.4, 24.5, 24.6, 24.7, 24.8, 24.9, 25.0, 25.1, 25.2, 25.3, - 25.4, 25.5, 25.6, 25.7, 25.8, 25.9, 26.0, 26.1, 26.2, 26.3, 26.4, - 26.5, 26.6, 26.7, 26.8, 26.9, 27.0, 27.1, 27.2, 27.3, 27.4, 27.5, - 27.6, 27.7, 27.8, 27.9, 28.0, 28.1, 28.2, 28.3, 28.4, 28.5, 28.6, - 28.7, 28.8, 28.9, 29.0, 29.1, 29.2, 29.3, 29.4, 29.5, 29.6, 29.7, - 29.8, 29.9, 30.0, 30.1, 30.2, 30.3, 30.4, 30.5, 30.6, 30.7, 30.8, - 30.9, 31.0, 31.1, 31.2, 31.3, 31.4, 31.5, 31.6, 31.7, 31.8, 31.9, - 32.0, 32.1, 32.2, 32.3, 32.4, 32.5, 32.6, 32.7, 32.8, 32.9, 33.0, - 33.1, 33.2, 33.3, 33.4, 33.5, 33.6, 33.7, 33.8, 33.9, 34.0, 34.1, - 34.2, 34.3, 34.4, 34.5, 34.6, 34.7, 34.8, 34.9, 35.0, 35.1, 35.2, - 35.3, 35.4, 35.5, 35.6, 35.7, 35.8, 35.9, 36.0, 36.1, 36.2, 36.3, - 36.4, 36.5, 36.6, 36.7, 36.8, 36.9, 37.0, 37.1, 37.2, 37.3, 37.4, - 37.5, 37.6, 37.7, 37.8, 37.9, 38.0, 38.1, 38.2, 38.3, 38.4, 38.5, - 38.6, 38.7, 38.8, 38.9, 39.0, 39.1, 39.2, 39.3, 39.4, 39.5, 39.6, - 39.7, 39.8, 39.9, 40.0, 40.09975, 40.199, 40.29775, 40.396, 40.49375, 40.591, 40.68775, + 10, 10.1, 10.2, 10.3, 10.4, 10.5, 10.6, 10.7, 10.8, 10.9, 11, + 11.1, 11.2, 11.3, 11.4, 11.5, 11.6, 11.7, 11.8, 11.9, 12, 12.1, + 12.2, 12.3, 12.4, 12.5, 12.6, 12.7, 12.8, 12.9, 13, 13.1, 13.2, + 13.3, 13.4, 13.5, 13.6, 13.7, 13.8, 13.9, 14, 14.1, 14.2, 14.3, + 14.4, 14.5, 14.6, 14.7, 14.8, 14.9, 15, 15.1, 15.2, 15.3, 15.4, + 15.5, 15.6, 15.7, 15.8, 15.9, 16, 16.1, 16.2, 16.3, 16.4, 16.5, + 16.6, 16.7, 16.8, 16.9, 17, 17.1, 17.2, 17.3, 17.4, 17.5, 17.6, + 17.7, 17.8, 17.9, 18, 18.1, 18.2, 18.3, 18.4, 18.5, 18.6, 18.7, + 18.8, 18.9, 19, 19.1, 19.2, 19.3, 19.4, 19.5, 19.6, 19.7, 19.8, + 19.9, 20, 20.1, 20.2, 20.3, 20.4, 20.5, 20.6, 20.7, 20.8, 20.9, + 21, 21.1, 21.2, 21.3, 21.4, 21.5, 21.6, 21.7, 21.8, 21.9, 22, + 22.1, 22.2, 22.3, 22.4, 22.5, 22.6, 22.7, 22.8, 22.9, 23, 23.1, + 23.2, 23.3, 23.4, 23.5, 23.6, 23.7, 23.8, 23.9, 24, 24.1, 24.2, + 24.3, 24.4, 24.5, 24.6, 24.7, 24.8, 24.9, 25, 25.1, 25.2, 25.3, + 25.4, 25.5, 25.6, 25.7, 25.8, 25.9, 26, 26.1, 26.2, 26.3, 26.4, + 26.5, 26.6, 26.7, 26.8, 26.9, 27, 27.1, 27.2, 27.3, 27.4, 27.5, + 27.6, 27.7, 27.8, 27.9, 28, 28.1, 28.2, 28.3, 28.4, 28.5, 28.6, + 28.7, 28.8, 28.9, 29, 29.1, 29.2, 29.3, 29.4, 29.5, 29.6, 29.7, + 29.8, 29.9, 30, 30.1, 30.2, 30.3, 30.4, 30.5, 30.6, 30.7, 30.8, + 30.9, 31, 31.1, 31.2, 31.3, 31.4, 31.5, 31.6, 31.7, 31.8, 31.9, + 32, 32.1, 32.2, 32.3, 32.4, 32.5, 32.6, 32.7, 32.8, 32.9, 33, + 33.1, 33.2, 33.3, 33.4, 33.5, 33.6, 33.7, 33.8, 33.9, 34, 34.1, + 34.2, 34.3, 34.4, 34.5, 34.6, 34.7, 34.8, 34.9, 35, 35.1, 35.2, + 35.3, 35.4, 35.5, 35.6, 35.7, 35.8, 35.9, 36, 36.1, 36.2, 36.3, + 36.4, 36.5, 36.6, 36.7, 36.8, 36.9, 37, 37.1, 37.2, 37.3, 37.4, + 37.5, 37.6, 37.7, 37.8, 37.9, 38, 38.1, 38.2, 38.3, 38.4, 38.5, + 38.6, 38.7, 38.8, 38.9, 39, 39.1, 39.2, 39.3, 39.4, 39.5, 39.6, + 39.7, 39.8, 39.9, 40, 40.09975, 40.199, 40.29775, 40.396, 40.49375, 40.591, 40.68775, 40.784, 40.87975, 40.975, 41.06975, 41.164, 41.25775, 41.351, 41.44375, 41.536, 41.62775, 41.719, 41.80975, 41.9, 41.98975, 42.079, 42.16775, 42.256, 42.34375, 42.431, 42.51775, 42.604, 42.68975, 42.775, 42.85975, 42.944, 43.02775, 43.111, 43.19375, 43.276, 43.35775, 43.439, 43.51975, 43.6, @@ -1167,34 +5253,34 @@ constexpr std::array setpoint = { 49.639, 49.65775, 49.676, 49.69375, 49.711, 49.72775, 49.744, 49.75975, 49.775, 49.78975, 49.804, 49.81775, 49.831, 49.84375, 49.856, 49.86775, 49.879, 49.88975, 49.9, 49.90975, 49.919, 49.92775, 49.936, 49.94375, 49.951, 49.95775, 49.964, 49.96975, 49.975, 49.97975, 49.984, 49.98775, 49.991, - 49.99375, 49.996, 49.99775, 49.999, 49.99975, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 49.99975, + 49.99375, 49.996, 49.99775, 49.999, 49.99975, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 49.99975, 49.999, 49.99775, 49.996, 49.99375, 49.991, 49.98775, 49.984, 49.97975, 49.975, 49.96975, 49.964, 49.95775, 49.951, 49.94375, 49.936, 49.92775, 49.919, 49.90975, 49.9, 49.88975, 49.879, 49.86775, 49.856, 49.84375, 49.831, 49.81775, 49.804, 49.78975, 49.775, 49.75975, 49.744, 49.72775, 49.711, @@ -1213,34 +5299,34 @@ constexpr std::array setpoint = { 43.02775, 42.944, 42.85975, 42.775, 42.68975, 42.604, 42.51775, 42.431, 42.34375, 42.256, 42.16775, 42.079, 41.98975, 41.9, 41.80975, 41.719, 41.62775, 41.536, 41.44375, 41.351, 41.25775, 41.164, 41.06975, 40.975, 40.87975, 40.784, 40.68775, 40.591, 40.49375, 40.396, 40.29775, 40.199, 40.09975, - 40.0, 39.9, 39.8, 39.7, 39.6, 39.5, 39.4, 39.3, 39.2, 39.1, 39.0, - 38.9, 38.8, 38.7, 38.6, 38.5, 38.4, 38.3, 38.2, 38.1, 38.0, 37.9, - 37.8, 37.7, 37.6, 37.5, 37.4, 37.3, 37.2, 37.1, 37.0, 36.9, 36.8, - 36.7, 36.6, 36.5, 36.4, 36.3, 36.2, 36.1, 36.0, 35.9, 35.8, 35.7, - 35.6, 35.5, 35.4, 35.3, 35.2, 35.1, 35.0, 34.9, 34.8, 34.7, 34.6, - 34.5, 34.4, 34.3, 34.2, 34.1, 34.0, 33.9, 33.8, 33.7, 33.6, 33.5, - 33.4, 33.3, 33.2, 33.1, 33.0, 32.9, 32.8, 32.7, 32.6, 32.5, 32.4, - 32.3, 32.2, 32.1, 32.0, 31.9, 31.8, 31.7, 31.6, 31.5, 31.4, 31.3, - 31.2, 31.1, 31.0, 30.9, 30.8, 30.7, 30.6, 30.5, 30.4, 30.3, 30.2, - 30.1, 30.0, 29.9, 29.8, 29.7, 29.6, 29.5, 29.4, 29.3, 29.2, 29.1, - 29.0, 28.9, 28.8, 28.7, 28.6, 28.5, 28.4, 28.3, 28.2, 28.1, 28.0, - 27.9, 27.8, 27.7, 27.6, 27.5, 27.4, 27.3, 27.2, 27.1, 27.0, 26.9, - 26.8, 26.7, 26.6, 26.5, 26.4, 26.3, 26.2, 26.1, 26.0, 25.9, 25.8, - 25.7, 25.6, 25.5, 25.4, 25.3, 25.2, 25.1, 25.0, 24.9, 24.8, 24.7, - 24.6, 24.5, 24.4, 24.3, 24.2, 24.1, 24.0, 23.9, 23.8, 23.7, 23.6, - 23.5, 23.4, 23.3, 23.2, 23.1, 23.0, 22.9, 22.8, 22.7, 22.6, 22.5, - 22.4, 22.3, 22.2, 22.1, 22.0, 21.9, 21.8, 21.7, 21.6, 21.5, 21.4, - 21.3, 21.2, 21.1, 21.0, 20.9, 20.8, 20.7, 20.6, 20.5, 20.4, 20.3, - 20.2, 20.1, 20.0, 19.9, 19.8, 19.7, 19.6, 19.5, 19.4, 19.3, 19.2, - 19.1, 19.0, 18.9, 18.8, 18.7, 18.6, 18.5, 18.4, 18.3, 18.2, 18.1, - 18.0, 17.9, 17.8, 17.7, 17.6, 17.5, 17.4, 17.3, 17.2, 17.1, 17.0, - 16.9, 16.8, 16.7, 16.6, 16.5, 16.4, 16.3, 16.2, 16.1, 16.0, 15.9, - 15.8, 15.7, 15.6, 15.5, 15.4, 15.3, 15.2, 15.1, 15.0, 14.9, 14.8, - 14.7, 14.6, 14.5, 14.4, 14.3, 14.2, 14.1, 14.0, 13.9, 13.8, 13.7, - 13.6, 13.5, 13.4, 13.3, 13.2, 13.1, 13.0, 12.9, 12.8, 12.7, 12.6, - 12.5, 12.4, 12.3, 12.2, 12.1, 12.0, 11.9, 11.8, 11.7, 11.6, 11.5, - 11.4, 11.3, 11.2, 11.1, 11.0, 10.9, 10.8, 10.7, 10.6, 10.5, 10.4, - 10.3, 10.2, 10.1, 10.0, 9.90025, 9.801, 9.70225, 9.604, 9.50625, 9.409, 9.31225, + 40, 39.9, 39.8, 39.7, 39.6, 39.5, 39.4, 39.3, 39.2, 39.1, 39, + 38.9, 38.8, 38.7, 38.6, 38.5, 38.4, 38.3, 38.2, 38.1, 38, 37.9, + 37.8, 37.7, 37.6, 37.5, 37.4, 37.3, 37.2, 37.1, 37, 36.9, 36.8, + 36.7, 36.6, 36.5, 36.4, 36.3, 36.2, 36.1, 36, 35.9, 35.8, 35.7, + 35.6, 35.5, 35.4, 35.3, 35.2, 35.1, 35, 34.9, 34.8, 34.7, 34.6, + 34.5, 34.4, 34.3, 34.2, 34.1, 34, 33.9, 33.8, 33.7, 33.6, 33.5, + 33.4, 33.3, 33.2, 33.1, 33, 32.9, 32.8, 32.7, 32.6, 32.5, 32.4, + 32.3, 32.2, 32.1, 32, 31.9, 31.8, 31.7, 31.6, 31.5, 31.4, 31.3, + 31.2, 31.1, 31, 30.9, 30.8, 30.7, 30.6, 30.5, 30.4, 30.3, 30.2, + 30.1, 30, 29.9, 29.8, 29.7, 29.6, 29.5, 29.4, 29.3, 29.2, 29.1, + 29, 28.9, 28.8, 28.7, 28.6, 28.5, 28.4, 28.3, 28.2, 28.1, 28, + 27.9, 27.8, 27.7, 27.6, 27.5, 27.4, 27.3, 27.2, 27.1, 27, 26.9, + 26.8, 26.7, 26.6, 26.5, 26.4, 26.3, 26.2, 26.1, 26, 25.9, 25.8, + 25.7, 25.6, 25.5, 25.4, 25.3, 25.2, 25.1, 25, 24.9, 24.8, 24.7, + 24.6, 24.5, 24.4, 24.3, 24.2, 24.1, 24, 23.9, 23.8, 23.7, 23.6, + 23.5, 23.4, 23.3, 23.2, 23.1, 23, 22.9, 22.8, 22.7, 22.6, 22.5, + 22.4, 22.3, 22.2, 22.1, 22, 21.9, 21.8, 21.7, 21.6, 21.5, 21.4, + 21.3, 21.2, 21.1, 21, 20.9, 20.8, 20.7, 20.6, 20.5, 20.4, 20.3, + 20.2, 20.1, 20, 19.9, 19.8, 19.7, 19.6, 19.5, 19.4, 19.3, 19.2, + 19.1, 19, 18.9, 18.8, 18.7, 18.6, 18.5, 18.4, 18.3, 18.2, 18.1, + 18, 17.9, 17.8, 17.7, 17.6, 17.5, 17.4, 17.3, 17.2, 17.1, 17, + 16.9, 16.8, 16.7, 16.6, 16.5, 16.4, 16.3, 16.2, 16.1, 16, 15.9, + 15.8, 15.7, 15.6, 15.5, 15.4, 15.3, 15.2, 15.1, 15, 14.9, 14.8, + 14.7, 14.6, 14.5, 14.4, 14.3, 14.2, 14.1, 14, 13.9, 13.8, 13.7, + 13.6, 13.5, 13.4, 13.3, 13.2, 13.1, 13, 12.9, 12.8, 12.7, 12.6, + 12.5, 12.4, 12.3, 12.2, 12.1, 12, 11.9, 11.8, 11.7, 11.6, 11.5, + 11.4, 11.3, 11.2, 11.1, 11, 10.9, 10.8, 10.7, 10.6, 10.5, 10.4, + 10.3, 10.2, 10.1, 10, 9.90025, 9.801, 9.70225, 9.604, 9.50625, 9.409, 9.31225, 9.216, 9.12025, 9.025, 8.93025, 8.836, 8.74225, 8.649, 8.55625, 8.464, 8.37225, 8.281, 8.19025, 8.1, 8.01025, 7.921, 7.83225, 7.744, 7.65625, 7.569, 7.48225, 7.396, 7.31025, 7.225, 7.14025, 7.056, 6.97225, 6.889, 6.80625, 6.724, 6.64225, 6.561, 6.48025, 6.4, @@ -1258,34 +5344,34 @@ constexpr std::array setpoint = { 0.361, 0.34225, 0.324, 0.30625, 0.289, 0.27225, 0.256, 0.24025, 0.225, 0.21025, 0.196, 0.18225, 0.169, 0.15625, 0.144, 0.13225, 0.121, 0.11025, 0.1, 0.09025, 0.081, 0.07225, 0.064, 0.05625, 0.049, 0.04225, 0.036, 0.03025, 0.025, 0.02025, 0.016, 0.01225, 0.009, - 0.00625, 0.004, 0.00225, 0.001, 0.00025, 1.11, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00025, 0.001, 0.00225, + 0.00625, 0.004, 0.00225, 0.001, 0.00025, 1.11E-16, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.00025, 0.001, 0.00225, 0.004, 0.00625, 0.009, 0.01225, 0.016, 0.02025, 0.025, 0.03025, 0.036, 0.04225, 0.049, 0.05625, 0.064, 0.07225, 0.081, 0.09025, 0.1, 0.11025, 0.121, 0.13225, 0.144, 0.15625, 0.169, 0.18225, 0.196, 0.21025, 0.225, 0.24025, 0.256, 0.27225, 0.289, 0.30625, 0.324, @@ -1303,35 +5389,35 @@ constexpr std::array setpoint = { 6.241, 6.32025, 6.4, 6.48025, 6.561, 6.64225, 6.724, 6.80625, 6.889, 6.97225, 7.056, 7.14025, 7.225, 7.31025, 7.396, 7.48225, 7.569, 7.65625, 7.744, 7.83225, 7.921, 8.01025, 8.1, 8.19025, 8.281, 8.37225, 8.464, 8.55625, 8.649, 8.74225, 8.836, 8.93025, 9.025, - 9.12025, 9.216, 9.31225, 9.409, 9.50625, 9.604, 9.70225, 9.801, 9.90025, 10.0, 10.1, - 10.2, 10.3, 10.4, 10.5, 10.6, 10.7, 10.8, 10.9, 11.0, 11.1, 11.2, - 11.3, 11.4, 11.5, 11.6, 11.7, 11.8, 11.9, 12.0, 12.1, 12.2, 12.3, - 12.4, 12.5, 12.6, 12.7, 12.8, 12.9, 13.0, 13.1, 13.2, 13.3, 13.4, - 13.5, 13.6, 13.7, 13.8, 13.9, 14.0, 14.1, 14.2, 14.3, 14.4, 14.5, - 14.6, 14.7, 14.8, 14.9, 15.0, 15.1, 15.2, 15.3, 15.4, 15.5, 15.6, - 15.7, 15.8, 15.9, 16.0, 16.1, 16.2, 16.3, 16.4, 16.5, 16.6, 16.7, - 16.8, 16.9, 17.0, 17.1, 17.2, 17.3, 17.4, 17.5, 17.6, 17.7, 17.8, - 17.9, 18.0, 18.1, 18.2, 18.3, 18.4, 18.5, 18.6, 18.7, 18.8, 18.9, - 19.0, 19.1, 19.2, 19.3, 19.4, 19.5, 19.6, 19.7, 19.8, 19.9, 20.0, - 20.1, 20.2, 20.3, 20.4, 20.5, 20.6, 20.7, 20.8, 20.9, 21.0, 21.1, - 21.2, 21.3, 21.4, 21.5, 21.6, 21.7, 21.8, 21.9, 22.0, 22.1, 22.2, - 22.3, 22.4, 22.5, 22.6, 22.7, 22.8, 22.9, 23.0, 23.1, 23.2, 23.3, - 23.4, 23.5, 23.6, 23.7, 23.8, 23.9, 24.0, 24.1, 24.2, 24.3, 24.4, - 24.5, 24.6, 24.7, 24.8, 24.9, 25.0, 25.1, 25.2, 25.3, 25.4, 25.5, - 25.6, 25.7, 25.8, 25.9, 26.0, 26.1, 26.2, 26.3, 26.4, 26.5, 26.6, - 26.7, 26.8, 26.9, 27.0, 27.1, 27.2, 27.3, 27.4, 27.5, 27.6, 27.7, - 27.8, 27.9, 28.0, 28.1, 28.2, 28.3, 28.4, 28.5, 28.6, 28.7, 28.8, - 28.9, 29.0, 29.1, 29.2, 29.3, 29.4, 29.5, 29.6, 29.7, 29.8, 29.9, - 30.0, 30.1, 30.2, 30.3, 30.4, 30.5, 30.6, 30.7, 30.8, 30.9, 31.0, - 31.1, 31.2, 31.3, 31.4, 31.5, 31.6, 31.7, 31.8, 31.9, 32.0, 32.1, - 32.2, 32.3, 32.4, 32.5, 32.6, 32.7, 32.8, 32.9, 33.0, 33.1, 33.2, - 33.3, 33.4, 33.5, 33.6, 33.7, 33.8, 33.9, 34.0, 34.1, 34.2, 34.3, - 34.4, 34.5, 34.6, 34.7, 34.8, 34.9, 35.0, 35.1, 35.2, 35.3, 35.4, - 35.5, 35.6, 35.7, 35.8, 35.9, 36.0, 36.1, 36.2, 36.3, 36.4, 36.5, - 36.6, 36.7, 36.8, 36.9, 37.0, 37.1, 37.2, 37.3, 37.4, 37.5, 37.6, - 37.7, 37.8, 37.9, 38.0, 38.1, 38.2, 38.3, 38.4, 38.5, 38.6, 38.7, - 38.8, 38.9, 39.0, 39.1, 39.2, 39.3, 39.4, 39.5, 39.6, 39.7, 39.8, - 39.9, 40.0, 40.09975, 40.199, 40.29775, 40.396, 40.49375, 40.591, 40.68775, 40.784, 40.87975, + 9.12025, 9.216, 9.31225, 9.409, 9.50625, 9.604, 9.70225, 9.801, 9.90025, 10, 10.1, + 10.2, 10.3, 10.4, 10.5, 10.6, 10.7, 10.8, 10.9, 11, 11.1, 11.2, + 11.3, 11.4, 11.5, 11.6, 11.7, 11.8, 11.9, 12, 12.1, 12.2, 12.3, + 12.4, 12.5, 12.6, 12.7, 12.8, 12.9, 13, 13.1, 13.2, 13.3, 13.4, + 13.5, 13.6, 13.7, 13.8, 13.9, 14, 14.1, 14.2, 14.3, 14.4, 14.5, + 14.6, 14.7, 14.8, 14.9, 15, 15.1, 15.2, 15.3, 15.4, 15.5, 15.6, + 15.7, 15.8, 15.9, 16, 16.1, 16.2, 16.3, 16.4, 16.5, 16.6, 16.7, + 16.8, 16.9, 17, 17.1, 17.2, 17.3, 17.4, 17.5, 17.6, 17.7, 17.8, + 17.9, 18, 18.1, 18.2, 18.3, 18.4, 18.5, 18.6, 18.7, 18.8, 18.9, + 19, 19.1, 19.2, 19.3, 19.4, 19.5, 19.6, 19.7, 19.8, 19.9, 20, + 20.1, 20.2, 20.3, 20.4, 20.5, 20.6, 20.7, 20.8, 20.9, 21, 21.1, + 21.2, 21.3, 21.4, 21.5, 21.6, 21.7, 21.8, 21.9, 22, 22.1, 22.2, + 22.3, 22.4, 22.5, 22.6, 22.7, 22.8, 22.9, 23, 23.1, 23.2, 23.3, + 23.4, 23.5, 23.6, 23.7, 23.8, 23.9, 24, 24.1, 24.2, 24.3, 24.4, + 24.5, 24.6, 24.7, 24.8, 24.9, 25, 25.1, 25.2, 25.3, 25.4, 25.5, + 25.6, 25.7, 25.8, 25.9, 26, 26.1, 26.2, 26.3, 26.4, 26.5, 26.6, + 26.7, 26.8, 26.9, 27, 27.1, 27.2, 27.3, 27.4, 27.5, 27.6, 27.7, + 27.8, 27.9, 28, 28.1, 28.2, 28.3, 28.4, 28.5, 28.6, 28.7, 28.8, + 28.9, 29, 29.1, 29.2, 29.3, 29.4, 29.5, 29.6, 29.7, 29.8, 29.9, + 30, 30.1, 30.2, 30.3, 30.4, 30.5, 30.6, 30.7, 30.8, 30.9, 31, + 31.1, 31.2, 31.3, 31.4, 31.5, 31.6, 31.7, 31.8, 31.9, 32, 32.1, + 32.2, 32.3, 32.4, 32.5, 32.6, 32.7, 32.8, 32.9, 33, 33.1, 33.2, + 33.3, 33.4, 33.5, 33.6, 33.7, 33.8, 33.9, 34, 34.1, 34.2, 34.3, + 34.4, 34.5, 34.6, 34.7, 34.8, 34.9, 35, 35.1, 35.2, 35.3, 35.4, + 35.5, 35.6, 35.7, 35.8, 35.9, 36, 36.1, 36.2, 36.3, 36.4, 36.5, + 36.6, 36.7, 36.8, 36.9, 37, 37.1, 37.2, 37.3, 37.4, 37.5, 37.6, + 37.7, 37.8, 37.9, 38, 38.1, 38.2, 38.3, 38.4, 38.5, 38.6, 38.7, + 38.8, 38.9, 39, 39.1, 39.2, 39.3, 39.4, 39.5, 39.6, 39.7, 39.8, + 39.9, 40, 40.09975, 40.199, 40.29775, 40.396, 40.49375, 40.591, 40.68775, 40.784, 40.87975, 40.975, 41.06975, 41.164, 41.25775, 41.351, 41.44375, 41.536, 41.62775, 41.719, 41.80975, 41.9, 41.98975, 42.079, 42.16775, 42.256, 42.34375, 42.431, 42.51775, 42.604, 42.68975, 42.775, 42.85975, 42.944, 43.02775, 43.111, 43.19375, 43.276, 43.35775, 43.439, 43.51975, 43.6, 43.67975, 43.759, @@ -1349,32 +5435,5033 @@ constexpr std::array setpoint = { 49.676, 49.69375, 49.711, 49.72775, 49.744, 49.75975, 49.775, 49.78975, 49.804, 49.81775, 49.831, 49.84375, 49.856, 49.86775, 49.879, 49.88975, 49.9, 49.90975, 49.919, 49.92775, 49.936, 49.94375, 49.951, 49.95775, 49.964, 49.96975, 49.975, 49.97975, 49.984, 49.98775, 49.991, 49.99375, 49.996, - 49.99775, 49.999, 49.99975, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, - 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, -}; + 49.99775, 49.999, 49.99975, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, 50, + 50, 50, 50, 50, 50, 50, 50}; + +constexpr std::array feedback = {0, + 0, + 5.11E-05, + 0.000183829, + 0.000384326, + 0.000657636, + 0.001003312, + 0.001422845, + 0.00191716, + 0.002487424, + 0.003134779, + 0.003860428, + 0.004665609, + 0.005551601, + 0.006519721, + 0.00757133, + 0.008707824, + 0.00993064, + 0.011241254, + 0.012641182, + 0.014131976, + 0.015715228, + 0.017392568, + 0.019165663, + 0.021036218, + 0.023005976, + 0.025076716, + 0.027250256, + 0.029528447, + 0.03191318, + 0.034406379, + 0.037010007, + 0.03972606, + 0.04255657, + 0.045503604, + 0.048569265, + 0.051755688, + 0.055065045, + 0.058499539, + 0.062061409, + 0.065752927, + 0.069576395, + 0.073534152, + 0.077628568, + 0.081862043, + 0.086237011, + 0.090755938, + 0.095421319, + 0.100235681, + 0.105201582, + 0.110321611, + 0.115598384, + 0.12103455, + 0.126632785, + 0.132395794, + 0.138326313, + 0.144427103, + 0.150700956, + 0.15715069, + 0.16377915, + 0.170589209, + 0.177583766, + 0.184765746, + 0.192138102, + 0.199703809, + 0.20746587, + 0.215427312, + 0.223591186, + 0.231960569, + 0.24053856, + 0.249328281, + 0.25833288, + 0.267555525, + 0.276999406, + 0.286667738, + 0.296563755, + 0.306690714, + 0.317051891, + 0.327650583, + 0.338490109, + 0.349573807, + 0.360905032, + 0.372487161, + 0.384323588, + 0.396417727, + 0.408773008, + 0.42139288, + 0.434280807, + 0.447440272, + 0.460874773, + 0.474587825, + 0.488582959, + 0.502863718, + 0.517433664, + 0.532296371, + 0.547455428, + 0.562914437, + 0.578677013, + 0.594746784, + 0.611127393, + 0.627822491, + 0.644835743, + 0.662170826, + 0.679831426, + 0.697821241, + 0.716143978, + 0.734803355, + 0.753803097, + 0.773146942, + 0.792838632, + 0.812881921, + 0.833280568, + 0.854038341, + 0.875159014, + 0.896646367, + 0.91850419, + 0.940736273, + 0.963346416, + 0.986338422, + 1.009716099, + 1.033483259, + 1.057643718, + 1.082201296, + 1.107159815, + 1.1325231, + 1.158294978, + 1.18447928, + 1.211079835, + 1.238100476, + 1.265545035, + 1.293417344, + 1.321721237, + 1.350460546, + 1.379639102, + 1.409260735, + 1.439329275, + 1.469848547, + 1.500822376, + 1.532254583, + 1.564148986, + 1.596509401, + 1.629339638, + 1.662643503, + 1.696424798, + 1.730687321, + 1.765434863, + 1.800671209, + 1.836400139, + 1.872625426, + 1.909350836, + 1.946580127, + 1.984317052, + 2.022565353, + 2.061328766, + 2.100611015, + 2.140415819, + 2.180746885, + 2.221607912, + 2.263002586, + 2.304934585, + 2.347407576, + 2.390425213, + 2.433991141, + 2.478108991, + 2.522782383, + 2.568014924, + 2.613810208, + 2.660171815, + 2.707103314, + 2.754608257, + 2.802690184, + 2.851352618, + 2.900599071, + 2.950433035, + 3.000857991, + 3.0518774, + 3.103494711, + 3.155713351, + 3.208536737, + 3.261968263, + 3.316011308, + 3.370669234, + 3.425945383, + 3.48184308, + 3.538365632, + 3.595516324, + 3.653298426, + 3.711715184, + 3.770769828, + 3.830465566, + 3.890805585, + 3.951793053, + 4.013431115, + 4.075722897, + 4.138671502, + 4.202280011, + 4.266551485, + 4.331488959, + 4.397095449, + 4.463373947, + 4.53032742, + 4.597958815, + 4.666219955, + 4.7350832, + 4.804565295, + 4.874664039, + 4.945382705, + 5.016722602, + 5.088685578, + 5.161273217, + 5.234487101, + 5.308328723, + 5.382799519, + 5.457900856, + 5.533634034, + 5.610000287, + 5.687000784, + 5.764636628, + 5.842908852, + 5.921818427, + 6.001366257, + 6.081553177, + 6.162379959, + 6.243847308, + 6.325955862, + 6.408706195, + 6.492098813, + 6.576134157, + 6.660812603, + 6.746134461, + 6.832099974, + 6.918709322, + 7.005962617, + 7.093859909, + 7.182401179, + 7.271586346, + 7.361415264, + 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-#include - -#include "PID.h" -#include "test_data.h" - -constexpr float KP = 2, KI = 103, KD = 1; -constexpr float min_rpm = std::numeric_limits::min(), - max_rpm = std::numeric_limits::max(); // no saturation -constexpr float deadzone = 0; -constexpr auto pid_period = 1ms; - -constexpr float expected_avg_error = 3.888f; -constexpr auto expected_avg_compute_time = 17us; - -Timer global_timer; - -int main() { - printf("##################### PID TEST APP STARTED #####################\r\n"); - PID::Config config = {KP, KI, KD, min_rpm, max_rpm, deadzone, false}; - PID::PID controller(config); - Timer timer; - auto total_compute_time = 0us; - float total_error = 0; - global_timer.start(); - for (std::size_t i = 0; i < control.size(); i++) { - if (i % 1000 == 0) { - //printf("Completed %zu /50001 iterations\r\n", i); - } - timer.reset(); - timer.start(); - float temp = controller.compute(setpoint.at(i), feedback.at(i)); - timer.stop(); - total_error += std::abs(control.at(i) - temp); - printf("%.4f, %.4f,\n", global_timer.elapsed_time().count()/1000000.0f, temp); - MBED_ASSERT(pid_period > timer.elapsed_time()); - total_compute_time += timer.elapsed_time(); - wait_us((pid_period - timer.elapsed_time()).count()); // account for compute time - } - //printf("TEST RESULTS\r\n"); - float average_error = total_error / control.size(); - auto average_compute_time = total_compute_time / control.size(); - //printf("Average difference between Matlab control signal and our control signal: %.3f\r\n", average_error); - //printf("Average time for a single call to the compute function: %llu us\r\n", average_compute_time.count()); - if (average_error - expected_avg_error > 0.001f) { - //printf("WARNING: Changes made to PID library have increased average error\r\n"); - } - if (average_compute_time > expected_avg_compute_time) { - printf("WARNING: Changes made to PID library have increased execution time of compute function\r\n"); - } - - printf("\r\n\r\n\r\n"); - - while (true) - ; -} diff --git a/apps/test-pid/src/main.cpp b/apps/test-pid/src/main.cpp index b2b78097e..cf09770f6 100644 --- a/apps/test-pid/src/main.cpp +++ b/apps/test-pid/src/main.cpp @@ -11,7 +11,7 @@ #include "test_data.h" constexpr float KP = 2, KI = 103, KD = 1; -constexpr float min_rpm = std::numeric_limits::min(), +constexpr float min_rpm = -std::numeric_limits::max(), max_rpm = std::numeric_limits::max(); // no saturation constexpr float deadzone = 0; constexpr auto pid_period = 1ms; @@ -19,26 +19,35 @@ constexpr auto pid_period = 1ms; constexpr float expected_avg_error = 36.897f; constexpr auto expected_avg_compute_time = 15us; +std::array computed_control; +std::array t; + int main() { - printf("##################### PID TEST APP STARTED #####################\r\n"); - PID::Config config = {KP, KI, KD, min_rpm, max_rpm, deadzone, false, false}; + printf("t,value\n"); + PID::Config config = {KP, KI, KD, min_rpm, max_rpm, deadzone, true, true}; PID::PID controller(config); - Timer timer; + Timer perf_timer; + Timer plot_timer; + plot_timer.start(); auto total_compute_time = 0us; float total_error = 0; for (std::size_t i = 0; i < control.size(); i++) { - if (i % 1000 == 0) { + /*if (i % 1000 == 0) { printf("Completed %zu /50001 iterations\r\n", i); - } - timer.reset(); - timer.start(); - total_error += std::abs(control.at(i) - controller.compute(setpoint.at(i), feedback.at(i))); - timer.stop(); - MBED_ASSERT(pid_period > timer.elapsed_time()); - total_compute_time += timer.elapsed_time(); - wait_us((pid_period - timer.elapsed_time()).count()); // account for compute time + }*/ + perf_timer.reset(); + perf_timer.start(); + float temp = controller.compute(setpoint.at(i), feedback.at(i)); + perf_timer.stop(); + computed_control[i] = temp; + t[i] = chrono::duration_cast>(plot_timer.elapsed_time()).count(); + total_error += std::abs(control.at(i) - temp); + perf_timer.stop(); + MBED_ASSERT(pid_period > perf_timer.elapsed_time()); + total_compute_time += perf_timer.elapsed_time(); + wait_us((pid_period - perf_timer.elapsed_time()).count()); // account for compute time } - printf("TEST RESULTS\r\n"); + /*printf("TEST RESULTS\r\n"); float average_error = total_error / control.size(); auto average_compute_time = total_compute_time / control.size(); printf("Average difference between Matlab control signal and our control signal: %.3f\r\n", average_error); @@ -48,6 +57,9 @@ int main() { } if (average_compute_time > expected_avg_compute_time) { printf("WARNING: Changes made to PID library have increased execution time of compute function\r\n"); + }*/ + for(uint64_t i = 0; i < 5001; i++) { + printf("%.5f,%.5f\n", t[i], computed_control[i]); } while (true) ; diff --git a/lib/pid/include/PID.h b/lib/pid/include/PID.h index dd1fdb070..bfc60ff2f 100644 --- a/lib/pid/include/PID.h +++ b/lib/pid/include/PID.h @@ -58,7 +58,6 @@ class PID { float m_pastError{0}, m_pastPV{0}; const bool m_antiKickback, m_antiWindup; float computePPath(float error); - float computeDPathOnError(float error, float dt); - float computeDPathOnPV(float PV, float dt); + float computeDPath(float deltaNumerator, float dt); }; } // namespace PID diff --git a/lib/pid/src/PID.cpp b/lib/pid/src/PID.cpp index 1993497e2..2f1b789a1 100644 --- a/lib/pid/src/PID.cpp +++ b/lib/pid/src/PID.cpp @@ -69,24 +69,15 @@ float PID::PID::computePPath(float error) { return error * m_PGain; } -float PID::PID::computeDPathOnError(float error, float dt) { +float PID::PID::computeDPath(float deltaNumerator, float dt) { // no mutex lock needed since inside compute() only float derivativePath = 0; if (dt != 0) { - derivativePath = m_DGain * (error - m_pastError) / dt; // todo this keeps dividing by a small number + derivativePath = m_DGain * deltaNumerator / dt; } return derivativePath; } -float PID::PID::computeDPathOnPV(float processVariable, float dt) { - // no mutex lock needed since inside compute() only - float derivativePath = 0; - if (dt != 0) { - derivativePath = m_DGain * (processVariable - m_pastPV) / dt; - } - return -derivativePath; // since d_error/dt = -d_pv/dt -} - float PID::PID::compute(float setPoint, float processVariable, float ff) { std::scoped_lock lock(m_mutex); float error = setPoint - processVariable; @@ -100,7 +91,7 @@ float PID::PID::compute(float setPoint, float processVariable, float ff) { paths += computePPath(error); m_IAccumulator += error * dt * m_IGain; paths += m_IAccumulator; - paths += m_antiKickback ? computeDPathOnPV(processVariable, dt) : computeDPathOnError(error, dt); + paths += computeDPath(m_antiKickback ? processVariable - m_pastPV : error - m_pastError, dt); if (m_antiWindup) { if (paths > m_upperBound) { From e401d0ed9a2b161cc9f7c9a63df310fe2d33be0d Mon Sep 17 00:00:00 2001 From: yreda1999 Date: Sun, 10 Jan 2021 22:04:22 -0500 Subject: [PATCH 13/13] ready for review --- apps/test-pid/src/main.cpp | 47 +++++++++++++++----------------------- 1 file changed, 19 insertions(+), 28 deletions(-) diff --git a/apps/test-pid/src/main.cpp b/apps/test-pid/src/main.cpp index cf09770f6..cfe3096a0 100644 --- a/apps/test-pid/src/main.cpp +++ b/apps/test-pid/src/main.cpp @@ -2,6 +2,7 @@ * This app tests the functionality of our PID library using the values stored in test_data.h * NOTE: This test-app is purely computational, * no motors or encoders are required + * The signal output is plotted in the test-pid folder. */ #include @@ -15,51 +16,41 @@ constexpr float min_rpm = -std::numeric_limits::max(), max_rpm = std::numeric_limits::max(); // no saturation constexpr float deadzone = 0; constexpr auto pid_period = 1ms; +constexpr bool anti_kickback = false, anti_windup = false; -constexpr float expected_avg_error = 36.897f; +constexpr float expected_avg_error = 1.6801f; constexpr auto expected_avg_compute_time = 15us; -std::array computed_control; -std::array t; - int main() { - printf("t,value\n"); - PID::Config config = {KP, KI, KD, min_rpm, max_rpm, deadzone, true, true}; + printf("##################### PID TEST APP STARTED #####################\r\n"); + PID::Config config = {KP, KI, KD, min_rpm, max_rpm, deadzone, anti_kickback, anti_windup}; PID::PID controller(config); - Timer perf_timer; - Timer plot_timer; - plot_timer.start(); + Timer timer; auto total_compute_time = 0us; float total_error = 0; for (std::size_t i = 0; i < control.size(); i++) { - /*if (i % 1000 == 0) { + if (i % 1000 == 0) { printf("Completed %zu /50001 iterations\r\n", i); - }*/ - perf_timer.reset(); - perf_timer.start(); - float temp = controller.compute(setpoint.at(i), feedback.at(i)); - perf_timer.stop(); - computed_control[i] = temp; - t[i] = chrono::duration_cast>(plot_timer.elapsed_time()).count(); - total_error += std::abs(control.at(i) - temp); - perf_timer.stop(); - MBED_ASSERT(pid_period > perf_timer.elapsed_time()); - total_compute_time += perf_timer.elapsed_time(); - wait_us((pid_period - perf_timer.elapsed_time()).count()); // account for compute time + } + timer.reset(); + timer.start(); + float out = controller.compute(setpoint.at(i), feedback.at(i)); + timer.stop(); + total_error += std::abs(control.at(i) - out); + total_compute_time += timer.elapsed_time(); + MBED_ASSERT(pid_period > timer.elapsed_time()); + wait_us((pid_period - timer.elapsed_time()).count()); // account for compute time } - /*printf("TEST RESULTS\r\n"); + printf("TEST RESULTS\r\n"); float average_error = total_error / control.size(); auto average_compute_time = total_compute_time / control.size(); - printf("Average difference between Matlab control signal and our control signal: %.3f\r\n", average_error); + printf("Average difference between Matlab control signal and our control signal: %.5f\r\n", average_error); printf("Average time for a single call to the compute function: %llu us\r\n", average_compute_time.count()); - if (average_error - expected_avg_error > 0.001f) { + if (average_error > expected_avg_error) { printf("WARNING: Changes made to PID library have increased average error\r\n"); } if (average_compute_time > expected_avg_compute_time) { printf("WARNING: Changes made to PID library have increased execution time of compute function\r\n"); - }*/ - for(uint64_t i = 0; i < 5001; i++) { - printf("%.5f,%.5f\n", t[i], computed_control[i]); } while (true) ;