public static PIDLoop DeepCopy(PIDLoop source)
{
PIDLoop newLoop = new PIDLoop
{
LastSampleTime = source.LastSampleTime,
Kp = source.Kp,
Ki = source.Ki,
Kd = source.Kd,
Input = source.Input,
Setpoint = source.Setpoint,
Error = source.Error,
Output = source.Output,
MinOutput = source.MinOutput,
MaxOutput = source.MaxOutput,
ErrorSum = source.ErrorSum,
PTerm = source.PTerm,
ITerm = source.ITerm,
DTerm = source.DTerm,
ExtraUnwind = source.ExtraUnwind,
ChangeRate = source.ChangeRate,
unWinding = source.unWinding
};
return(newLoop);
}
// Required for all IDumpers for them to work, but can't enforced by the interface because it's static:
public static PIDLoop CreateFromDump(SafeSharedObjects shared, Dump d)
{
var newObj = new PIDLoop();
newObj.LoadDump(d);
return(newObj);
}
public void CanEqualsPIDLoop()
{
var pidLoop1 = new PIDLoop();
var pidLoop2 = new PIDLoop();
var op = new OperandPair(pidLoop1, pidLoop2);
var result = calc.Equal(op);
Assert.IsFalse((bool)result);
op = new OperandPair(pidLoop1, pidLoop1);
result = calc.Equal(op);
Assert.IsTrue((bool)result);
}
public static PIDLoop DeepCopy(PIDLoop source)
{
PIDLoop newLoop = new PIDLoop
{
LastSampleTime = source.LastSampleTime,
Kp = source.Kp,
Ki = source.Ki,
Kd = source.Kd,
Input = source.Input,
Setpoint = source.Setpoint,
Error = source.Error,
Output = source.Output,
MaxOutput = source.MaxOutput,
ErrorSum = source.ErrorSum,
PTerm = source.PTerm,
ITerm = source.ITerm,
DTerm = source.DTerm,
ExtraUnwind = source.ExtraUnwind,
ChangeRate = source.ChangeRate,
unWinding = source.unWinding
};
return newLoop;
}
public TorquePI()
{
Loop = new PIDLoop();
Ts = 1;
TorqueAdjust = new MovingAverage();
}
