File content as of revision 7:806b08205b25:

#include "ControllerFactory.hpp"


void ControllerFactory::createController (Controller **c, SysObjTypes ctrlType) {
	
	switch (ctrlType) {
		case P:			//fall-through
		case PI:
		case PID: {
			*c = new PIDController();
			break; 
		}
		case RST: {
			*c = new RSTController();
			break;
		}
		default: *c = 0;
	}
}

void ControllerFactory::createControllerParams (ControllerParams &cp, SysObjTypes &ctrlType, uint8_t *paramsList, int paramsListLen) {
	/*
		paramsList form: {
			P: [kp]	
			PI: [kp, ti]
			PID: [kp, ti, td]
			RST: [nR,r0,r1,...,r_nR,nS,s0,s1,...,s_nS,nT,t0,t1,...,t_nT]
		}
		cond: paramsListLen = nR + nS + nT + 6
	*/
	switch (ctrlType) {
		case P: {
			cp.kp = *paramsList;
			cp.ti = 0;
			cp.td = 0;
			break;
		}
		case PI: {
			cp.kp = *paramsList;
			cp.ti = paramsList[1];
			cp.td = 0;
			break;
		}
		case PID: {
			cp.kp = *paramsList;
			cp.ti = paramsList[1];
			cp.td = paramsList[2];
			break;
		}
		case RST: {
			int i;
			cp.ordR = *paramsList;
			cp.R = new float[cp.ordR+1];
			for (i=1; i<cp.ordR+2;i++) {
				cp.R[i] = paramsList[i];
			}
			cp.ordS = paramsList[i];
			cp.S = new float[cp.ordS+1];
			for (i=cp.ordR+2; i<cp.ordR+cp.ordS+3; i++) {
				cp.S[i] = paramsList[i];		
			}
			cp.ordT = paramsList[i];
			cp.T = new float[cp.ordT+1];
			for(i=cp.ordR+cp.ordS+3; i<paramsListLen; i++) {
				cp.T[i] = paramsList[i];
			}
			break;
		}
	}		
}