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Simeon Radivoev 2022-02-12 12:53:50 +02:00
commit ee5c2f922d
Signed by: simeonradivoev
GPG key ID: 7611A451D2A5D37A
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Assets/Scripts/Util/PIDFloat.cs Normal file
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using System;
using UnityEngine;
namespace Trive.Core
{
[Serializable]
public struct PIDFloat
{
public float pFactor, iFactor, dFactor;
private float integral;
private float lastError;
public PIDFloat(Vector3 factors)
{
pFactor = factors.x;
iFactor = factors.y;
dFactor = factors.z;
integral = 0;
lastError = 0;
}
public PIDFloat(float pFactor, float iFactor, float dFactor)
{
this.pFactor = pFactor;
this.iFactor = iFactor;
this.dFactor = dFactor;
integral = 0;
lastError = 0;
}
public void Reset()
{
integral = 0;
lastError = 0;
}
public void SetFactors(float pFactor, float iFactor, float dFactor)
{
this.pFactor = pFactor;
this.iFactor = iFactor;
this.dFactor = dFactor;
}
public void SetFactors(Vector3 factors)
{
SetFactors(factors.x, factors.y, factors.y);
}
public PIDFloat Update(float setpoint, float actual, float timeFrame, out float val)
{
var present = setpoint - actual;
var newIntegral = integral + present * timeFrame;
var deriv = (present - lastError) / timeFrame;
val = present * pFactor + newIntegral * iFactor + deriv * dFactor;
return new PIDFloat(pFactor, iFactor, dFactor) { lastError = present, integral = newIntegral };
}
public float Update(float setpoint, float actual, float timeFrame)
{
return Update(setpoint, actual, timeFrame, ref lastError, ref integral);
}
public float Update(float setpoint, float actual, float timeFrame, ref float lastError, ref float integral)
{
var present = setpoint - actual;
integral += present * timeFrame;
var deriv = (present - lastError) / timeFrame;
var val = present * pFactor + integral * iFactor + deriv * dFactor;
lastError = present;
return val;
}
public float UpdateAngle(float setpoint, float actual, float timeFrame)
{
return UpdateAngle(setpoint, actual, timeFrame, ref integral, ref lastError);
}
public float UpdateAngle(float setpoint, float actual, float timeFrame, ref float integral, ref float lastError)
{
var present = Mathf.DeltaAngle(actual, setpoint);
integral += present * timeFrame;
var deriv = Mathf.DeltaAngle(lastError, present) / timeFrame;
lastError = present;
return present * pFactor + integral * iFactor + deriv * dFactor;
}
}
}