From cef95354c69745f782a95d37f4b0e7bbf02e106a Mon Sep 17 00:00:00 2001
From: lonkaars <loek@pipeframe.xyz>
Date: Wed, 24 May 2023 18:03:05 +0200
Subject: uart working

---
 zumo/pidtest/.gitignore  |  1 +
 zumo/pidtest/makefile    | 21 +++++++++++++++++++++
 zumo/pidtest/pidtest.cpp | 18 ++++++++++++++++++
 3 files changed, 40 insertions(+)
 create mode 100644 zumo/pidtest/.gitignore
 create mode 100644 zumo/pidtest/makefile
 create mode 100644 zumo/pidtest/pidtest.cpp

(limited to 'zumo/pidtest')

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));
+	}
+}
-- 
cgit v1.2.3