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https://github.com/RobotechLille/cdf2018-principal
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38 lines
771 B
C
38 lines
771 B
C
#ifndef __COMMON_H_
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#define __COMMON_H_
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#include <time.h>
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#include <stdlib.h>
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void diffTime(const struct timespec* debut, const struct timespec* fin, struct timespec* ecoule);
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float diffTimeSec(const struct timespec* debut, const struct timespec* fin);
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// PID
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struct PID {
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struct timespec lastCalc;
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float KP;
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float KI;
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float KD;
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float prevErr;
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float integErr;
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};
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void resetPID(struct PID *pid);
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void initPID(struct PID *pid, float KP, float KI, float KD);
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float updatePID(struct PID *pid, float err);
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// Moving average
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struct movAvg {
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size_t size;
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size_t actuel;
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float* table;
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double total;
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float current;
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};
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void initMovAvg(struct movAvg *movavg, size_t size);
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void addMovAvg(struct movAvg *movavg, float val);
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#endif
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