steering_pid.H

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// Copyright (C) 2005 Pablo Mejia
// Copyright (C) 2005 University of Louisiana at Lafayette
// Authors: Pablo Mejia, Suresh Golconda

#ifndef CAJUN_STEERING_PID_H
#define CAJUN_STEERING_PID_H

#include "base_steering.H"
#include "interp.H"
#include "integral.H"

namespace cajun
{
//========================= PID version 1 ============= (suresh)
        class steering_pid_v1_t : public base_steering_t
        {
        private:
            interp_table_t m_kp;
            double m_ki;
            interp_table_t m_kd;

            double m_heading_error;
            double m_heading[2];
            double m_tstamp[2];

        public:
            virtual void init()
                {
                        for (unsigned i = 0; i < 2; i++)
                        {
                                m_tstamp[i] = 0;
                                m_heading_error = 0;
                                m_heading[0] = 0;
                        }
                }
                steering_pid_v1_t (const conf_t &conf);
                bool read_config (const conf_t &conf);
                void steer (steering_data_t &steering,
                            double steering_position,
                            guide_data_t const &gd,
                            heading_data_t const &heading_data,
                            double speed_, bool forward, bool tight_path);
        };
//=================Steering PID Version 2=================== (john)
        class steering_pid_v2_t : public base_steering_t
        {
        private:
            interp_table_t m_kp;
            double m_ki;
            interp_table_t m_kd;

            integral pidIntegral;

            double m_error[2];
            double m_tstamp[2];

            double previous_steer;
            double max_turn;

        public:
            virtual void init()
                {
                        for (unsigned i = 0; i < 2; i++)
                        {
                                m_tstamp[i] = 0;
                                m_error[i] = 0;
                        }
                        previous_steer = 0;
                }
                steering_pid_v2_t (const conf_t &conf);
                bool read_config (const conf_t &conf);
                void steer (steering_data_t &steering,
                            double steering_position,
                            guide_data_t const &gd,
                            heading_data_t const &heading_data,
                            double speed_, bool forward, bool tight_path);
        };
};
#endif

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