Diff: ControllerFactory.cpp

Revision:

0:b5906c81772b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ControllerFactory.cpp	Sun Feb 05 16:31:58 2017 +0000
@@ -0,0 +1,72 @@
+
+#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 RST::RST();
+            break;
+        }
+        default: c = 0;
+    }
+}
+
+void ControllerFactory::createControllerParams (ControllerParams &cp, SysObjTypes &ctrlType, float *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;
+        }
+    }       
+}
+