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[wombat/utils] fix pid handling of negative numbers #122

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merged 5 commits into from
Feb 4, 2024
Merged

[wombat/utils] fix pid handling of negative numbers #122

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d0cc0b0
merged with silly stuff
spacey-sooty Jan 30, 2024
2325e95
[wombat/utils] fix pid handling of negative numbers
spacey-sooty Feb 3, 2024
17c55c6
Revert "merged with silly stuff"
spacey-sooty Feb 3, 2024
190c327
Merge branch 'master' into spacey-sooty/pid-fix
spacey-sooty Feb 3, 2024
fd74640
Merge branch 'master' into spacey-sooty/pid-fix
spacey-sooty Feb 4, 2024
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8 changes: 8 additions & 0 deletions wombat/src/main/include/utils/PID.h
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Original file line number Diff line number Diff line change
Expand Up @@ -103,6 +103,11 @@ class PIDController {
void Reset() { _integralSum = sum_t{0}; }

out_t Calculate(in_t pv, units::second_t dt, out_t feedforward = out_t{0}) {
bool is_negative;
if (pv.value() < 0) {
is_negative = true;
pv = units::math::fabs(pv);
}
auto error = do_wrap(_setpoint - pv);
_integralSum += error * dt;
if (config.izone.value() > 0 && (error > config.izone || error < -config.izone))
Expand Down Expand Up @@ -130,6 +135,9 @@ class PIDController {
_last_pv = pv;
_last_error = error;
_iterations++;
if (is_negative) {
return out * -1;
}
return out;
}

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