Cristi Stoican / Mbed 2 deprecated Migration

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Dependencies:   BLE_API mbed nRF51822

ControllerFactory.cpp@0:b5906c81772b, 2017-02-05 (annotated)

Committer:
stoicancristi
Date:
Sun Feb 05 16:31:58 2017 +0000
Revision:
0:b5906c81772b
BLE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
stoicancristi 0:b5906c81772b 1
stoicancristi 0:b5906c81772b 2 #include "ControllerFactory.hpp"
stoicancristi 0:b5906c81772b 3
stoicancristi 0:b5906c81772b 4
stoicancristi 0:b5906c81772b 5 void ControllerFactory::createController (Controller *c, SysObjTypes &ctrlType) {
stoicancristi 0:b5906c81772b 6
stoicancristi 0:b5906c81772b 7 switch (ctrlType) {
stoicancristi 0:b5906c81772b 8 case P: //fall-through
stoicancristi 0:b5906c81772b 9 case PI:
stoicancristi 0:b5906c81772b 10 case PID: {
stoicancristi 0:b5906c81772b 11 c = new PIDController();
stoicancristi 0:b5906c81772b 12 break;
stoicancristi 0:b5906c81772b 13 }
stoicancristi 0:b5906c81772b 14 case RST: {
stoicancristi 0:b5906c81772b 15 //c = new RST::RST();
stoicancristi 0:b5906c81772b 16 break;
stoicancristi 0:b5906c81772b 17 }
stoicancristi 0:b5906c81772b 18 default: c = 0;
stoicancristi 0:b5906c81772b 19 }
stoicancristi 0:b5906c81772b 20 }
stoicancristi 0:b5906c81772b 21
stoicancristi 0:b5906c81772b 22 void ControllerFactory::createControllerParams (ControllerParams &cp, SysObjTypes &ctrlType, float *paramsList, int paramsListLen) {
stoicancristi 0:b5906c81772b 23 /*
stoicancristi 0:b5906c81772b 24 paramsList form: {
stoicancristi 0:b5906c81772b 25 P: [kp]
stoicancristi 0:b5906c81772b 26 PI: [kp, ti]
stoicancristi 0:b5906c81772b 27 PID: [kp, ti, td]
stoicancristi 0:b5906c81772b 28 RST: [nR,r0,r1,...,r_nR,nS,s0,s1,...,s_nS,nT,t0,t1,...,t_nT]
stoicancristi 0:b5906c81772b 29 }
stoicancristi 0:b5906c81772b 30 cond: paramsListLen = nR + nS + nT + 6
stoicancristi 0:b5906c81772b 31 */
stoicancristi 0:b5906c81772b 32 switch (ctrlType) {
stoicancristi 0:b5906c81772b 33 case P: {
stoicancristi 0:b5906c81772b 34 cp.kp = *paramsList;
stoicancristi 0:b5906c81772b 35 cp.ti = 0;
stoicancristi 0:b5906c81772b 36 cp.td = 0;
stoicancristi 0:b5906c81772b 37 break;
stoicancristi 0:b5906c81772b 38 }
stoicancristi 0:b5906c81772b 39 case PI: {
stoicancristi 0:b5906c81772b 40 cp.kp = *paramsList;
stoicancristi 0:b5906c81772b 41 cp.ti = paramsList[1];
stoicancristi 0:b5906c81772b 42 cp.td = 0;
stoicancristi 0:b5906c81772b 43 break;
stoicancristi 0:b5906c81772b 44 }
stoicancristi 0:b5906c81772b 45 case PID: {
stoicancristi 0:b5906c81772b 46 cp.kp = *paramsList;
stoicancristi 0:b5906c81772b 47 cp.ti = paramsList[1];
stoicancristi 0:b5906c81772b 48 cp.td = paramsList[2];
stoicancristi 0:b5906c81772b 49 break;
stoicancristi 0:b5906c81772b 50 }
stoicancristi 0:b5906c81772b 51 case RST: {
stoicancristi 0:b5906c81772b 52 int i;
stoicancristi 0:b5906c81772b 53 cp.ordR = *paramsList;
stoicancristi 0:b5906c81772b 54 cp.R = new float[cp.ordR+1];
stoicancristi 0:b5906c81772b 55 for (i=1; i<cp.ordR+2;i++) {
stoicancristi 0:b5906c81772b 56 cp.R[i] = paramsList[i];
stoicancristi 0:b5906c81772b 57 }
stoicancristi 0:b5906c81772b 58 cp.ordS = paramsList[i];
stoicancristi 0:b5906c81772b 59 cp.S = new float[cp.ordS+1];
stoicancristi 0:b5906c81772b 60 for (i=cp.ordR+2; i<cp.ordR+cp.ordS+3; i++) {
stoicancristi 0:b5906c81772b 61 cp.S[i] = paramsList[i];
stoicancristi 0:b5906c81772b 62 }
stoicancristi 0:b5906c81772b 63 cp.ordT = paramsList[i];
stoicancristi 0:b5906c81772b 64 cp.T = new float[cp.ordT+1];
stoicancristi 0:b5906c81772b 65 for(i=cp.ordR+cp.ordS+3; i<paramsListLen; i++) {
stoicancristi 0:b5906c81772b 66 cp.T[i] = paramsList[i];
stoicancristi 0:b5906c81772b 67 }
stoicancristi 0:b5906c81772b 68 break;
stoicancristi 0:b5906c81772b 69 }
stoicancristi 0:b5906c81772b 70 }
stoicancristi 0:b5906c81772b 71 }
stoicancristi 0:b5906c81772b 72