pidcontroller.hpp

00001 #ifndef PID_CONTROLLER_H
00002 #define PID_CONTROLLER_H
00003 
00004 #include <cstdio>
00005 #include <Linalg/linalg.h>
00006 #include <SystemModels/systemmodels.hpp>
00007 #include <mbed.h>
00008 
00009 namespace controllers
00010 {
00011     namespace siso
00012     {
00013         
00014         /**
00015          * @brief General interface class for the controller
00016          * 
00017          * @tparam T type of the variables (float, double)
00018          */
00019         template<class T>
00020         class IController{
00021             public:
00022                 virtual T calculateControl(const T&)=0;
00023                 virtual void clear()=0;
00024         };
00025 
00026         /**
00027          * @brief It generates a discrete transferfunction for realizing a proportional–integral–derivative controller, which is discretized by the Euler’s method.
00028          * 
00029          * @tparam T type of the variables (float, double) 
00030          */
00031         template<class T>
00032         class CPidController:public IController<T>
00033         {
00034             public:
00035                 /* Discrete transfer function type */
00036                 using CPidSystemmodelType = systemmodels::lti::siso::CDiscreteTransferFucntion<T,3,3>;
00037                 
00038                 /* Constructor */
00039                 CPidController(T              f_kp
00040                               ,T              f_ki
00041                               ,T              f_kd
00042                               ,T              f_tf
00043                               ,T              f_dt);
00044                 CPidController(CPidSystemmodelType f_pid,T f_dt);
00045 
00046                 /* Overloaded operator */
00047                 T calculateControl(const T& f_input);
00048                 /* Serial callback */
00049                 static void staticSerialCallback(void* obj,char const * a, char * b);
00050                 /* Initialization */
00051                 void clear();
00052             private:
00053                 #ifdef CONTROL_TEST_HPP
00054                     FRIEND_TEST(PidControlTest,Initialization);
00055                     FRIEND_TEST(PidControlTest,Setter);
00056                 #endif 
00057                 /* Controller setting */
00058                 void setController(T              f_kp
00059                                   ,T              f_ki
00060                                   ,T              f_kd
00061                                   ,T              f_tf);
00062                 /* Serial callback implementation */
00063                 void serialCallback(char const * a, char * b);
00064 
00065                 
00066 
00067                 /* Discrete transfer function */
00068                 CPidSystemmodelType     m_pidTf;
00069 
00070 
00071                 /* delta-time term */
00072                 T                 m_dt;
00073 
00074         };
00075         /* Include function definitions */
00076         #include "PidController.inl"
00077     }; // namespace siso
00078 }; // namespace controllers   
00079 
00080 
00081 
00082 #endif