diff options
Diffstat (limited to 'zumo/pidtest')
| -rw-r--r-- | zumo/pidtest/.gitignore | 1 | ||||
| -rw-r--r-- | zumo/pidtest/makefile | 21 | ||||
| -rw-r--r-- | zumo/pidtest/pidtest.cpp | 18 |
3 files changed, 40 insertions, 0 deletions
diff --git a/zumo/pidtest/.gitignore b/zumo/pidtest/.gitignore new file mode 100644 index 0000000..41dc46e --- /dev/null +++ b/zumo/pidtest/.gitignore @@ -0,0 +1 @@ +pidtest diff --git a/zumo/pidtest/makefile b/zumo/pidtest/makefile new file mode 100644 index 0000000..832d60b --- /dev/null +++ b/zumo/pidtest/makefile @@ -0,0 +1,21 @@ +CPP = g++ +LD = g++ +RM = rm -f +CFLAGS = +LFLAGS = +TARGET = pidtest + +SRCS := pidtest.cpp ../pid.cpp +OBJS := pidtest.o ../pid.o + +all: pidtest + +%.o: %.cpp + $(CPP) -c $(CFLAGS) $< -o $@ + +$(TARGET): $(OBJS) + $(LD) $^ $(LFLAGS) -o $@ + +clean: + $(RM) $(TARGET) $(OBJS) + diff --git a/zumo/pidtest/pidtest.cpp b/zumo/pidtest/pidtest.cpp new file mode 100644 index 0000000..4d047fb --- /dev/null +++ b/zumo/pidtest/pidtest.cpp @@ -0,0 +1,18 @@ +#include <cstdio> +#include <random> + +#include "../pid.h" + +int main() { + float P, I, D; + P = -0.02; + I = 0.13; + D = -300; + PID test(P, I, D); + test.reset(0.0); + + fprintf(stderr, "P: %.3f :: I: %.3f :: D: %.3f\n", P, I, D); + for (unsigned int i = 0; i < 100; i++) { + printf("%2.8f\n", test.iter(i < 50 ? 1.0 : 0.0)); + } +} |