Diff: control.cpp

Revision:

4:99891561a38b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control.cpp	Fri May 25 09:00:15 2018 +0000
@@ -0,0 +1,162 @@
+#include "mbed.h"
+#include "control.h"
+#include "behaviour.h"
+
+void CONTROL_OnOff(CONTROLLER* control)
+{
+    if(control->presentvalue > control->setpoint)
+        control->output = control->upperlimit;//upperlimit is negative value
+    else
+    if(control->presentvalue < control->setpoint)
+        control->output = control->lowerlimit;
+    else
+        control->output = 0.0;
+}
+
+void CONTROL_P(CONTROLLER* control)
+{       
+    control->error = control->setpoint - control->presentvalue;
+    control->error_p = control->error;  
+    control->output = control->gain_p * control->error_p;
+    
+    if(control->output < control->lowerdeadband || control->output > control->upperdeadband)
+    {   
+        if(control->output < control->lowerlimit) 
+            control->output = control->lowerlimit;  
+        if(control->output > control->upperlimit) 
+            control->output = control->upperlimit;
+    }
+    else
+        control->output = 0.0;
+}
+
+void CONTROL_PI(CONTROLLER* control)
+{
+    double error_old;
+    
+    error_old = control->error;
+    control->error = control->setpoint - control->presentvalue;
+    
+    control->error_p = control->error;
+    control->error_i += error_old;
+    control->output = (control->gain_p * control->error_p)+(control->gain_i * control->error_i);
+
+    if(control->output < control->lowerdeadband || control->output > control->upperdeadband)
+    {   
+        if(control->output < control->lowerlimit) 
+            control->output = control->lowerlimit;  
+        if(control->output > control->upperlimit) 
+            control->output = control->upperlimit;
+    }
+    else
+        control->output = 0.0;
+}
+
+void CONTROL_PD(CONTROLLER* control)
+{
+    double error_old;
+    
+    error_old = control->error;
+    control->error = control->setpoint - control->presentvalue;
+    control->error_p = control->error;
+    control->error_d = control->error - error_old;
+    control->output = (control->gain_p * control->error_p)+(control->gain_d * control->error_d);
+
+    if(control->output < control->lowerdeadband || control->output > control->upperdeadband)
+    {   
+        if(control->output < control->lowerlimit) 
+            control->output = control->lowerlimit;  
+        if(control->output > control->upperlimit) 
+            control->output = control->upperlimit;
+    }
+    else
+        control->output = 0.0;
+}
+
+void CONTROL_PID(CONTROLLER* control)
+{
+    double error_old;
+    
+    error_old = control->error;
+    control->error = control->setpoint - control->presentvalue;
+    
+    control->error_p = control->error;
+    control->error_i += error_old;
+    control->error_d = control->error - error_old;
+    control->output = (control->gain_p * control->error_p)+(control->gain_i * control->error_i)+(control->gain_d * control->error_d);
+
+    if(control->output < control->lowerdeadband || control->output > control->upperdeadband)
+    {   
+        if(control->output < control->lowerlimit) 
+            control->output = control->lowerlimit;  
+        if(control->output > control->upperlimit) 
+            control->output = control->upperlimit;
+    }
+    else
+        control->output = 0.0;
+}
+
+void CONTROL_InputMode_Set(CONTROLLER* control, unsigned char input, double mode)
+{
+    control->input = input;
+    control->mode = mode;
+}
+void CONTROL_Setpoint_Set(CONTROLLER* control, double sp)
+{
+    control->setpoint = sp;
+}
+void CONTROL_Gain_Set(CONTROLLER* control, double p, double i, double d)
+{
+    control->gain_p = p;
+    control->gain_i = i;
+    control->gain_d = d;
+}
+void CONTROL_Limit_Set(CONTROLLER* control, double upper, double lower)
+{
+    control->upperlimit = upper;
+    control->lowerlimit = lower;
+}
+void CONTROL_Deadband_Set(CONTROLLER* control, double upper, double lower)
+{
+    control->upperdeadband = upper;
+    control->lowerdeadband = lower;
+}
+
+void CONTROL_PresentValue_Set(CONTROLLER* control, double pv)
+{
+    control->presentvalue = pv;
+}
+    
+double CONTROL_Output_Get(CONTROLLER* control)
+{
+    switch(control->mode)
+    {
+        case CONTROL_MODE_NONE:
+            break;
+        case CONTROL_MODE_ONOFF:
+            CONTROL_OnOff(control);
+            break;
+        case CONTROL_MODE_P:
+            CONTROL_P(control);
+            break;
+        case CONTROL_MODE_PI:
+            CONTROL_PI(control);
+            break;
+        case CONTROL_MODE_PD:
+            CONTROL_PD(control);
+            break;
+        case CONTROL_MODE_PID:
+            CONTROL_PID(control);
+            break;      
+    }
+    return control->output; 
+}    
+
+void CONTROL_Config(void)
+{
+}
+
+void CONTROL_Task(void)                                         
+{
+
+}
\ No newline at end of file