Imported CSS files

epics/css/sys-mng-opi/CSS/MARTe/GAMs/isttokbiblio/IPID.h

@@ -0,0 +1,148 @@
+//******************************************************************************
+//
+//		IPID.cpp - differential PID equation - type C - out(n) = out(n-1) - Kp[PV(n)-PV(n-1)] + Ki*T*e(n) - (Kd/T)*[PV(n) - 2PV(n-1) + PV(n-2)]
+//		Ivo Carvalho 29/4/2011
+//
+//******************************************************************************
+
+#if !defined (IPID_H)
+#define IPID_H
+
+/** @file 
+     differential PID equation */
+
+
+#include "Level0.h"
+#include "Level1.h"
+#include "Level2.h"
+//OBJECT_DLL(IPID)
+
+/** differential PID equation */
+class IPID {
+
+//OBJECT_DLL_STUFF(IPID)
+private:
+
+	float error;
+	float old_error;
+	float old_old_error;
+	float Kp_constant;
+	float Ki_constant;
+	float Kd_constant;
+	float T_constant;
+	float P_realtime_constant;
+	float I_realtime_constant;
+	float D_realtime_constant;
+	float upper_limit;
+	float lower_limit;
+	float old_output;
+	float old_PV;
+	float old_old_PV;
+	
+
+public:
+	
+	bool LoadOldOutputWithinLimits(float old_output_to_load);
+	
+	float GetUpperLimit(){
+		return (this->upper_limit);
+	}	
+	
+	float GetLowerLimit(){
+		return (this->lower_limit);
+	}	
+	
+	float GetOldOutput(){
+		return (this->old_output);
+	}	
+	
+	float GetRealtimeConstantP(){
+		return (this->P_realtime_constant);
+	}	
+	
+	float GetRealtimeConstantI(){
+		return (this->I_realtime_constant);
+	}	
+	
+	float GetRealtimeConstantD(){
+		return (this->D_realtime_constant);
+	}	
+		
+	float GetConstantKp(){
+		return (this->Kp_constant);
+	}	
+		
+	float GetConstantKi(){
+		return (this->Ki_constant);
+	}	
+		
+	float GetConstantKd(){
+		return (this->Kd_constant);
+	}	
+		
+	float GetConstantT(){
+		return (this->T_constant);
+	}	
+		
+	float GetError(){
+		return (this->error);
+	}	
+	
+	float GetOldProcessVariable(){
+		return this->old_PV;
+	}	
+	
+	float GetOldOldProcessVariable(){
+		return this->old_old_PV;
+	}
+	
+	float GetOldError(){
+		return (this->old_error);
+	}
+	
+	float GetOldOldError(){
+		return (this->old_old_error);
+	}
+	
+	IPID (float set_Kp_constant, float set_Ki_constant, float set_Kd_constant, float set_T_constant, float set_upper_limit, float set_lower_limit);
+	
+	IPID (float set_P_realtime_constant, float set_I_realtime_constant, float set_D_realtime_constant, float set_upper_limit, float set_lower_limit);
+	
+	bool SetPIDConstants(float set_Kp_constant, float set_Ki_constant, float set_Kd_constant, float set_T_constant);
+	
+	bool SetRealtimePIDConstants(float set_P_realtime_constant, float set_I_realtime_constant, float set_D_realtime_constant);
+	
+	bool SetLimits(float set_upper_limit, float set_lower_limit);
+	
+	float CalculatePID(float process_variable, float setpoint);
+	
+	float CalculatePI(float process_variable, float setpoint);
+	
+	float CalculateP(float process_variable, float setpoint);
+	
+	float CalculatePID_types(float process_variable, float setpoint, float type);
+	
+	float ReturnErrorInPercentage(float process_variable, float setpoint);
+	
+	~IPID();
+
+private:
+
+	bool SortWaveform();
+	bool RemoveRepeatedValues();
+
+};
+
+
+#endif
+
+
+
+
+
+
+
+
+
+
+