public PIDController(double Kp, double Ki, double Kd, double Kf,
IPIDSource source, IPIDOutput output,
double period)
{
if (source == null)
throw new ArgumentNullException(nameof(source), "Null PIDSource was given");
if (output == null)
throw new ArgumentNullException(nameof(output), "Null PIDOutput was given");
m_controlLoop = new Notifier(CallCalculate, this);
m_P = Kp;
m_I = Ki;
m_D = Kd;
m_F = Kf;
m_ipidInput = source;
m_ipidOutput = output;
m_period = period;
m_controlLoop.StartPeriodic(m_period);
s_instances++;
HLUsageReporting.ReportPIDController(s_instances);
m_toleranceType = ToleranceType.NoTolerance;
}
/// <summary>
/// Creates a new Managed Compressor, which will turn off when the volrage is below the specified level.
/// </summary>
/// <param name="voltageThreshold">Voltage to turn off the compressor at</param>
/// <param name="Period">time to wait between on and off values.</param>
public ManagedCompressor(double voltageThreshold, double period)
{
m_period = period;
VoltageThreshold = voltageThreshold;
m_periodic = new Notifier(Update);
UseTimer = true;
}
public override void RobotInit()
{
DateTime old = DateTime.Now;
notifier = new Notifier(() =>
{
DateTime current = DateTime.Now;
var delta = current - old;
Console.WriteLine(delta);
old = current;
});
notifier.StartPeriodic(0.1);
}
/// <summary>
/// Creates a new PID object with the given contants for P, I, D and F.
/// </summary>
/// <param name="kp">The proportional coefficient.</param>
/// <param name="ki">The integral coefficient</param>
/// <param name="kd">The derivative coefficient</param>
/// <param name="kf">The feed forward term.</param>
/// <param name="source">The PIDSource object that is used to get values.</param>
/// <param name="output">The PIDOutput object that is set to the output percentage.</param>
/// <param name="period">The loop time for doing calculations.</param>
public PIDController(double kp, double ki, double kd, double kf,
IPIDSource source, IPIDOutput output,
double period)
{
if (source == null)
throw new ArgumentNullException(nameof(source), "Null PIDSource was given");
if (output == null)
throw new ArgumentNullException(nameof(output), "Null PIDOutput was given");
CalculateCallback = Calculate;
m_controlLoop = new Notifier(CalculateCallback);
m_setpointTimer = new Timer();
m_setpointTimer.Start();
m_P = kp;
m_I = ki;
m_D = kd;
m_F = kf;
PIDInput = source;
PIDOutput = output;
m_period = period;
m_controlLoop.StartPeriodic(m_period);
s_instances++;
HLUsageReporting.ReportPIDController(s_instances);
m_toleranceType = ToleranceType.NoTolerance;
m_buf = new Queue<double>();
}
/// <inheritdoc/>
public void Dispose()
{
m_controlLoop.Stop();
lock (this)
{
PIDOutput = null;
PIDInput = null;
m_controlLoop.Dispose();
m_controlLoop = null;
}
Table?.RemoveTableListener(this);
}
