91 lines
2.0 KiB
C++
91 lines
2.0 KiB
C++
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/*
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* PositionControlProcess.cpp
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*
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* Created on: 23 <EFBFBD><EFBFBD><EFBFBD><EFBFBD>. 2019 <EFBFBD>.
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* Author: titov
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*/
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#include "PositionControlProcess.hh"
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void processing::acs::PositionControlProcess::set(
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control::PhaseSpacePoint<float> setpoint ) {
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position_stp = setpoint;
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if( output ) proc_enable = true;
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}
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control::PhaseSpaceValue processing::acs::PositionControlProcess::get() const {
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return control::PhaseSpaceValue( position_fdb, speed_fdb );
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}
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void processing::acs::PositionControlProcess::set_output(
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SetInterface * output_interface ) {
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if( output_interface ) proc_enable = false;
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output = output_interface;
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}
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void processing::acs::PositionControlProcess::setSampleTime( float ts_in_second ) {
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position_control.setTime(ts_in_second);
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}
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void processing::acs::PositionControlProcess::process() {
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if( not proc_enable )
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return;
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position_stp.update();
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speed_stp = position_control.update( position_stp, position_fdb, speed_fdb );
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output->set( speed_stp );
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}
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void processing::acs::PositionControlProcess::reset() {
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proc_enable = false;
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position_stp = control::PhaseSpaceValue(0, 0);
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speed_stp = control::PhaseSpaceValue(0, 0);
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position_control.reset();
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}
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const float & processing::acs::PositionControlProcess::demand() const {
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return position_stp.value;
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}
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processing::acs::PositionControlProcess::PositionControlProcess(
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PositionRegulator & position_reg,
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systemic::ISignal & position_fdb, systemic::ISignal & speed_fdb ) :
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position_control(position_reg),
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position_fdb(position_fdb), speed_fdb(speed_fdb),
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position_stp(control::PhaseSpaceValue(0, 0)), speed_stp(
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control::PhaseSpaceValue(0, 0)), proc_enable(false),
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acc_limit(position_reg), speed_limit(position_reg) {}
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vector::ITechValue & processing::acs::PositionControlProcess::getAccelerationLimit() {
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return acc_limit;
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}
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vector::ITechValue & processing::acs::PositionControlProcess::getSpeedLimit() {
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return speed_limit;
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}
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