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30 lines
615 B
30 lines
615 B
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file AC_P.cpp |
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/// @brief Generic P algorithm |
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#include <AP_Math/AP_Math.h> |
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#include "AC_P.h" |
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const AP_Param::GroupInfo AC_P::var_info[] = { |
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// @Param: P |
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// @DisplayName: PI Proportional Gain |
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// @Description: P Gain which produces an output value that is proportional to the current error value |
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AP_GROUPINFO("P", 0, AC_P, _kp, 0), |
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AP_GROUPEND |
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}; |
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float AC_P::get_p(float error) const |
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{ |
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return (float)error * _kp; |
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} |
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void AC_P::load_gains() |
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{ |
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_kp.load(); |
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} |
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void AC_P::save_gains() |
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{ |
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_kp.save(); |
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}
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