private void Awake()
{
m_Rigidbody = GetComponent <Rigidbody>();
m_Car = GetComponent <CarController>();
m_Pid = GetComponent <PidController>();
m_Control = GetComponent <CarUserControl>();
int width, height, fps;
if (SettingsManager.Instance == null)
{
width = 320;
height = 160;
fps = 15;
}
else
{
width = SettingsManager.Instance.Settings.Width;
height = SettingsManager.Instance.Settings.Height;
fps = SettingsManager.Instance.Settings.FPS;
}
m_TargetTexture = new RenderTexture(width, height, 24, RenderTextureFormat.ARGB32);
foreach (MyCamera cam in m_Cameras)
{
cam.Camera.targetTexture = m_TargetTexture;
cam.Camera.enabled = false;
}
m_FrameDelay = 1 / ((float)fps);
}
public static IObservable <EulerAngles> Manipulate(
this IObservable <EulerAngles> processVariable, IObservable <EulerAngles> setpoint,
PidController controllerPitch, PidController controllerRoll, PidController controllerYaw)
{
return(processVariable
.CombineLatest(
setpoint,
(pv, sp) =>
new { ProcessVariable = pv, Setpoint = sp })
.TimeInterval()
.Select(t =>
{
double dt = t.Interval.TotalSeconds;
double manipulatedVariablePitch = controllerPitch.Manipulate(
processVariable: t.Value.ProcessVariable.Pitch,
setpoint: t.Value.Setpoint.Pitch,
elapsedTime: dt);
double manipulatedVariableRoll = controllerRoll.Manipulate(
processVariable: t.Value.ProcessVariable.Roll,
setpoint: t.Value.Setpoint.Roll,
elapsedTime: dt);
double manipulatedVariableYaw = controllerYaw.Manipulate(
processVariable: t.Value.ProcessVariable.Yaw,
setpoint: t.Value.Setpoint.Yaw,
elapsedTime: dt);
return new EulerAngles(
pitch: manipulatedVariablePitch,
roll: manipulatedVariableRoll,
yaw: manipulatedVariableYaw);
}));
}
public void Save()
{
var data = GetSaveData(SaveFileName, SaveName);
data ["PID"] = pidController;
data ["PROP_DIAM"] = propDiam;
data ["PROP_PITCH"] = PITCH;
data ["PROP_MASS"] = propMass;
data ["MOTOR_KV"] = z;
data ["MOTOR_RES"] = r;
data ["MOTOR_CUR"] = i0;
data ["BATTERY_V"] = y;
data ["FRAME_MASS"] = rigidBody.mass / scale;
data ["FRAME_RES"] = airResistance;
data ["PROP_E"] = PROP_E;
data ["FRAME_SIZE"] = frameSize;
data.Save();
var pidData = GetSaveData(PidController.SaveFileName, SaveName);
PidController.Save(pidData);
pidData.Save();
var inputData = GetSaveData(Inputs.SaveFileName, "");
Inputs.Save(inputData);
inputData.Save();
Debug.Log("Saved " + saveName);
}
public Form1(PidController controller)
{
InitializeComponent();
piController = controller;
measurementTemp[0, 0] = "Tagname"; measurementTemp[0, 1] = "value"; measurementTemp[0, 2] = "status"; measurementTemp[0, 3] = "quality";
measurementU[0, 0] = "Tagname"; measurementU[0, 1] = "value"; measurementU[0, 2] = "status"; measurementU[0, 3] = "quality";
//tagData[0, 0] = "TagId";[0, 1] =
}
void Awake()
{
m_Car = GetComponent <CarController> ();
m_Pid = GetComponent <PidController> ();
GameObject camera = GameObject.FindWithTag("MainCamera");
m_Graph = camera.GetComponent <GraphManager> ();
}
private void Awake()
{
GameObject lazik = GameObject.FindWithTag("Player");
m_Car = lazik.GetComponent <CarController>();
m_Pid = lazik.GetComponent <PidController>();
m_Control = lazik.GetComponent <CarUserControl>();
m_Socket = GameObject.Find("SocketIO").GetComponent <SocketIOComponent>();
}
public Drone(DroneController drone, float R, Vector3 goal)
{
this.R = R;
this.goal = goal;
controller = new PidController(0.1, 0.1, 0.3, drone.max_speed, 2); //TODO: Need to fine tune these
start = DateTime.Now;
id = drone.GetInstanceID();
Update(drone);
}
public PID(Vector3 PIDvaluesHigh, Vector3 PIDvaluesLow)
{
PIDhigh = new PidController(PIDvaluesHigh.x, PIDvaluesHigh.y, PIDvaluesHigh.z, 1, -1);
PIDlow = new PidController(PIDvaluesLow.x, PIDvaluesLow.y, PIDvaluesLow.z, 1, -1);
PIDhigh.SetPoint = 0;
PIDlow.SetPoint = 0;
mode = PIDMode.Low;
}
public AngularVelocityPidController(
double proportionalGainX, double integralGainX, double derivativeGainX,
double proportionalGainY, double integralGainY, double derivativeGainY,
double proportionalGainZ, double integralGainZ, double derivativeGainZ)
{
_controllerX = new PidController(proportionalGainX, integralGainX, derivativeGainX);
_controllerY = new PidController(proportionalGainY, integralGainY, derivativeGainY);
_controllerZ = new PidController(proportionalGainZ, integralGainZ, derivativeGainZ);
}
public Form1()
{
InitializeComponent();
airHeater = new AirHeater(timestep);
lowPassFilter = new LowPassFilter(timestep, 0.5, airHeater.tenv);
pid = new PidController(0.4, 48, timestep, Convert.ToDouble(txtSP.Text));
chartProcess.ChartAreas[0].AxisX.Interval = 15.0;
chartProcess.ChartAreas[0].AxisX.IntervalType = DateTimeIntervalType.Seconds;
chartProcess.ChartAreas[0].AxisX.LabelStyle.Format = "HH:mm:ss";
public AngularVelocityPidController(
double proportionalGainX, double integralGainX, double derivativeGainX, double maxErrorCumulativeX,
double proportionalGainY, double integralGainY, double derivativeGainY, double maxErrorCumulativeY,
double proportionalGainZ, double integralGainZ, double derivativeGainZ, double maxErrorCumulativeZ)
{
_controllerX = new PidController(proportionalGainX, integralGainX, derivativeGainX, maxErrorCumulativeX);
_controllerY = new PidController(proportionalGainY, integralGainY, derivativeGainY, maxErrorCumulativeY);
_controllerZ = new PidController(proportionalGainZ, integralGainZ, derivativeGainZ, maxErrorCumulativeZ);
}
public AngularPositionPidController(
double proportionalGainPitch, double integralGainPitch, double derivativeGainPitch,
double proportionalGainRoll, double integralGainRoll, double derivativeGainRoll,
double proportionalGainYaw, double integralGainYaw, double derivativeGainYaw)
{
_controllerX = new PidController(proportionalGainPitch, integralGainPitch, derivativeGainPitch);
_controllerY = new PidController(proportionalGainRoll, integralGainRoll, derivativeGainRoll);
_controllerZ = new PidController(proportionalGainYaw, integralGainYaw, derivativeGainYaw);
}
public AngularPositionPidController(
double proportionalGainPitch, double integralGainPitch, double derivativeGainPitch, double maxErrorCumulativeX,
double proportionalGainRoll, double integralGainRoll, double derivativeGainRoll, double maxErrorCumulativeY,
double proportionalGainYaw, double integralGainYaw, double derivativeGainYaw, double maxErrorCumulativeZ)
{
_controllerX = new PidController(proportionalGainPitch, integralGainPitch, derivativeGainPitch, maxErrorCumulativeX);
_controllerY = new PidController(proportionalGainRoll, integralGainRoll, derivativeGainRoll, maxErrorCumulativeY);
_controllerZ = new PidController(proportionalGainYaw, integralGainYaw, derivativeGainYaw, maxErrorCumulativeZ);
}
public void Start()
{
Debug.Log("WAP: Begin Autopilot.Start");
Texture launcherButtonTexture =
GameDatabase.Instance.GetTexture("WarrigalsAutopilot/wap-icon", asNormalMap: false);
_appLauncherButton = ApplicationLauncher.Instance.AddModApplication(
onTrue: () => _showGui = true,
onFalse: () => _showGui = false,
onHover: null,
onHoverOut: null,
onEnable: null,
onDisable: null,
visibleInScenes: ApplicationLauncher.AppScenes.FLIGHT,
texture: launcherButtonTexture
);
_bankController = new BankController(ActiveVessel);
_bankController.OnDisable += () => _headingController.Enabled = false;
_headingController = new HeadingController(ActiveVessel, _bankController);
_headingController.OnEnable += () => _bankController.Enabled = true;
_pitchController = new PitchController(ActiveVessel);
_pitchController.OnDisable += () =>
{
_vertSpeedController.Enabled = false;
_speedByPitchController.Enabled = false;
};
_vertSpeedController = new VertSpeedController(ActiveVessel, _pitchController);
_vertSpeedController.OnEnable += () =>
{
_pitchController.Enabled = true;
_speedByPitchController.Enabled = false;
};
_vertSpeedController.OnDisable += () =>
{
_altitudeController.Enabled = false;
};
_altitudeController = new AltitudeController(ActiveVessel, _vertSpeedController);
_altitudeController.OnEnable += () =>
{
_vertSpeedController.Enabled = true;
};
_speedByPitchController = new SpeedByPitchController(ActiveVessel, _pitchController);
_speedByPitchController.OnEnable += () =>
{
_pitchController.Enabled = true;
_vertSpeedController.Enabled = false;
};
Debug.Log("WAP: End Autopilot.Start");
}
private void Awake()
{
GameObject lazik = GameObject.FindWithTag("Player");
m_Record = lazik.GetComponent <RecordScript>();
m_Car = lazik.GetComponent <CarController>();
m_Pid = lazik.GetComponent <PidController>();
m_Control = lazik.GetComponent <CarUserControl>();
m_RecordImage = GameObject.Find("RecordButton").GetComponent <Image>();
}
public void UpdatePIDValue(float valueP, float valueI, float valueD, float valueMin, float valueMax)
{
Debug.Log("Update servo PID");
this.valueP = valueP;
this.valueI = valueI;
this.valueD = valueD;
this.valueMin = valueMin;
this.valueMax = valueMax;
speedPID = new PidController(this.valueP, this.valueI, this.valueD, this.valueMax, this.valueMin);
speedPID.SetPoint = 0;
}
private void Awake()
{
m_Controller = GetComponent <PidController> ();
if (m_Autonomous)
{
CurrentMode = Mode.Autonomous;
}
else
{
CurrentMode = Mode.Manual;
}
}
public void TestMethod()
{
ControllerParameters cParams = new ControllerParameters(0, 0, 0,
new double[] { 0, 0 },
new DateTime(1, 1, 1, 0, 0, 0),
new DateTime(1, 1, 1, 0, 0, 30),
1);
PidController cont = new PidController(cParams, Transients);
cont.SolveSimulation();
ResultsToCsv(cont);
}
void UpdatePIDValues(PIDProfile newPIDprofile)
{
Debug.Log("set pid values to " + newPIDprofile.name);
proximityPIDX = new PidController(newPIDprofile.PIDxP, newPIDprofile.PIDxI, newPIDprofile.PIDxD, 1, -1);
proximityPIDY = new PidController(newPIDprofile.PIDyP, newPIDprofile.PIDyI, newPIDprofile.PIDyD, 1, -1);
proximityPIDZ = new PidController(newPIDprofile.PIDzP, newPIDprofile.PIDzI, newPIDprofile.PIDzD, 1, -1);
yawPID = new PidController(newPIDprofile.yawP, newPIDprofile.yawI, newPIDprofile.yawD, 1, -1);
proximityPIDX.SetPoint = 0;
proximityPIDY.SetPoint = 0;
proximityPIDZ.SetPoint = 0;
yawPID.SetPoint = 0;
}
public static IObservable <EulerAngles> Manipulate(
this IObservable <EulerAngles> processVariable, IObservable <EulerAngles> setpoint,
double proportionalGainPitch, double integralGainPitch, double derivativeGainPitch, double maxErrorCumulativeX,
double proportionalGainRoll, double integralGainRoll, double derivativeGainRoll, double maxErrorCumulativeY,
double proportionalGainYaw, double integralGainYaw, double derivativeGainYaw, double maxErrorCumulativeZ)
{
var controllerPitch = new PidController(proportionalGainPitch, integralGainPitch, derivativeGainPitch, maxErrorCumulativeX);
var controllerRoll = new PidController(proportionalGainRoll, integralGainRoll, derivativeGainRoll, maxErrorCumulativeY);
var controllerYaw = new PidController(proportionalGainYaw, integralGainYaw, derivativeGainYaw, maxErrorCumulativeZ);
return(Manipulate(processVariable, setpoint, controllerPitch, controllerRoll, controllerYaw));
}
private void ResultsToCsv(PidController cont)
{
StringBuilder csvContent = new StringBuilder();
string filePath = @"D:\My_Data\GithubRepos\Active\PIDController\PIDController.UnitTests\test.csv";
for (long i = 0; i < cont.TimeValuesMilliseconds.LongLength; i++)
{
string curRow = string.Format($"{cont.TimeValuesMilliseconds[i]},{cont.YValues[i]},{cont.YDotValues[i]},{cont.YDoubleDotValues[i]}");
csvContent.AppendLine(curRow);
}
File.WriteAllText(filePath, csvContent.ToString());
}
public double updateDirectionalController(
MyContext context,
PidController controller,
Vector3D direction,
Vector3D desiredPosition,
Vector3D currentPosition,
TimeSpan timeSinceLastUpdate
)
{
Vector3D errorVector = desiredPosition - currentPosition;
double error = errorVector.Dot(direction);
double position = currentPosition.Dot(direction);
double control = controller.update(timeSinceLastUpdate, error, position, context.Program);
return(control);
}
private void displayController(MyContext context, PidController controller, string name)
{
context.displayDebugText(
string.Format(
"{0}:\nP={1:0.00}\nI={2:0.00}\nD={3}\nCTRL={4}\nErr={5}\nPos={6}\nIntegral={7};\nDerivative={8}\n",
name,
controller.getPTerm(),
controller.getITerm(),
controller.getDTerm(),
controller.getControl(),
controller.getError(),
controller.getPosition(),
controller.getErrorIntegral(),
controller.getPositionDerivative()
),
false
);
}
public MainWindow()
{
sim = new AirHeaterSimulation(21.5, 0);
airHeaterCom = new SimulatedHeaterReader(new LowPassFilter(21.5), sim);
//airHeaterCom = new AirHeaterReader(new LowPassFilter(21.5));
//airHeater = new DaqReader(new LowPassFilter(21.5));
analogWaveform = new AnalogWaveform <double>(0);
//unfilteredAnalogWaveform = new AnalogWaveform<double>(0);
InitializeComponent();
TemperatureGraph.DataSource = analogWaveform;
//TemperatureGraphUnfiltered.DataSource = unfilteredAnalogWaveform;
DataContext = this;
RunViewUpdater();
pidControl = new PidController(airHeaterCom);
//realPid = new PidReader();
opcClient = new OpcClient(airHeaterCom, pidControl);
SetPoint = 25;
}
public void ItMustConvege()
{
var rand = new Random();
var desired = 100 * rand.NextDouble();
var measured = 100 * rand.NextDouble();
var controller = new PidController(0.6, 0.4);
for (int i = 0; i < 35; i++)
{
var error = desired - measured;
Debug.WriteLine("{0} e: {1}", i, error);
var output = controller.Control(error, 1);
desired += 10;
measured = measured + output;
}
Assert.IsTrue(Math.Abs(desired - measured) <= 1e-5);
}
private void Awake()
{
speedPID = new PidController(valueP, valueI, valueD, valueMax, valueMin);
}
public AngularPositionPidController(double proportionalGain, double integralGain, double derivativeGain, double maxErrorCumulative)
{
_controllerX = new PidController(proportionalGain, integralGain, derivativeGain, maxErrorCumulative);
_controllerY = new PidController(proportionalGain, integralGain, derivativeGain, maxErrorCumulative);
_controllerZ = new PidController(proportionalGain, integralGain, derivativeGain, maxErrorCumulative);
}
public AngularVelocityPidController(double proportionalGain, double integralGain, double derivativeGain)
{
_controllerX = new PidController(proportionalGain, integralGain, derivativeGain);
_controllerY = new PidController(proportionalGain, integralGain, derivativeGain);
_controllerZ = new PidController(proportionalGain, integralGain, derivativeGain);
}
//public AnimationCurve myCurve;
public void CustomAwake(MemoryBridge memoryBridge)
{
this.memoryBridge = memoryBridge;
vesselControl = memoryBridge.vesselControl;
IRmanager = gameObject.GetComponent <IR_Manager>();
//convert IR parts on this vessel to robotic servos and create limbcontroller/limbs
IRmanager.CustomAwake(memoryBridge, memoryBridge.vesselControl, ref limbs);
steeringPID = new PidController(1, 0, .3f, .3, -.3f);
steeringPID.SetPoint = 0;
Debug.Log("IR Manager Enabled, Limb Count : " + limbs.Count);
if (limbs.Count == 6)
{
Debug.Log("robot is a hexapod");
groupLeft = new HexapodLimbGroup();
groupLeft.limbs = new List <LimbController>();
groupRight = new HexapodLimbGroup();
groupRight.limbs = new List <LimbController>();
group0 = new HexapodLimbGroup();
group0.limbs = new List <LimbController>();
group1 = new HexapodLimbGroup();
group1.limbs = new List <LimbController>();
foreach (var limb in limbs)
{
limb.roboticController = this;
var offset = memoryBridge.vesselControl.vessel.transform.InverseTransformPoint(limb.transform.position);
Debug.Log(limb.name);
var group = groupRight;
if (offset.x < 0)
{
Debug.Log("left leg found");
group = groupLeft;
}
group.limbs.Add(limb);
if (limb.name.Contains("1"))
{
Debug.Log("limb one found");
group.limb0 = limb;
}
if (limb.name.Contains("2"))
{
Debug.Log("limb two found");
group.limb1 = limb;
}
if (limb.name.Contains("3"))
{
Debug.Log("limb three found");
group.limb2 = limb;
}
if (offset.x < 0)
{
groupLeft = group;
}
else
{
groupRight = group;
}
}
foreach (var item in groupRight.limbs)
{
Debug.Log(item.name);
}
group0.limbs.Add(groupLeft.limb0);
group0.limbs.Add(groupLeft.limb2);
group0.limbs.Add(groupRight.limb1);
group1.limbs.Add(groupRight.limb0);
group1.limbs.Add(groupRight.limb2);
group1.limbs.Add(groupLeft.limb1);
foreach (var limb in groupLeft.limbs)
{
Debug.Log("Group Left Limb : " + limb.name);
}
foreach (var limb in groupRight.limbs)
{
Debug.Log("Group Right Limb : " + limb.name);
}
}
}
public ProximityPID(double P, double I, double D, double max, double min)
{
trgtPID = new PidController(P, I, D, max, min);
trgtPID.SetPoint = 0;
}