quickjs/test/pid_fuzzy.js

   1 import * as a from "liba.so";
   2 function assert(expr) {
   3     if (!eval(expr)) {
   4         throw Error(expr);
   5     }
   6 }
   7 var NL = -3;
   8 var NM = -2;
   9 var NS = -1;
  10 var ZO = 0;
  11 var PS = +1;
  12 var PM = +2;
  13 var PL = +3;
  14 var me = [
  15     [a.mf.TRI, NL, NL, NM],
  16     [a.mf.TRI, NL, NM, NS],
  17     [a.mf.TRI, NM, NS, ZO],
  18     [a.mf.TRI, NS, ZO, PS],
  19     [a.mf.TRI, ZO, PS, PM],
  20     [a.mf.TRI, PS, PM, PL],
  21     [a.mf.TRI, PM, PL, PL],
  22 ];
  23 var NL = -6;
  24 var NM = -4;
  25 var NS = -2;
  26 var ZO = 0;
  27 var PS = +2;
  28 var PM = +4;
  29 var PL = +6;
  30 var mec = [
  31     [a.mf.TRI, NL, NL, NM],
  32     [a.mf.TRI, NL, NM, NS],
  33     [a.mf.TRI, NM, NS, ZO],
  34     [a.mf.TRI, NS, ZO, PS],
  35     [a.mf.TRI, ZO, PS, PM],
  36     [a.mf.TRI, PS, PM, PL],
  37     [a.mf.TRI, PM, PL, PL],
  38 ];
  39 var NL = -15;
  40 var NM = -10;
  41 var NS = -5;
  42 var ZO = 0;
  43 var PS = +5;
  44 var PM = +10;
  45 var PL = +15;
  46 var mkp = [
  47     [NL, NL, NM, NM, NS, ZO, ZO],
  48     [NL, NL, NM, NS, NS, ZO, PS],
  49     [NM, NM, NM, NS, ZO, PS, PS],
  50     [NM, NM, NS, ZO, PS, PM, PM],
  51     [NS, NS, ZO, PS, PS, PM, PM],
  52     [NS, ZO, PS, PM, PM, PM, PL],
  53     [ZO, ZO, PM, PM, PM, PL, PL],
  54 ];
  55 var NL = -3;
  56 var NM = -2;
  57 var NS = -1;
  58 var ZO = 0;
  59 var PS = +1;
  60 var PM = +2;
  61 var PL = +3;
  62 var mki = [
  63     [PL, PL, PM, PM, PS, ZO, ZO],
  64     [PL, PL, PM, PS, PS, ZO, ZO],
  65     [PL, PM, PS, PS, ZO, NS, NS],
  66     [PM, PM, PS, ZO, NS, NM, NM],
  67     [PM, PS, ZO, NS, NS, NM, NL],
  68     [ZO, ZO, NS, NS, NM, NL, NL],
  69     [ZO, ZO, NS, NM, NM, NL, NL],
  70 ];
  71 var mkd = [
  72     [NS, PS, PL, PL, PL, PM, NS],
  73     [NS, PS, PL, PM, PM, PS, ZO],
  74     [ZO, PS, PM, PM, PS, PS, ZO],
  75     [ZO, PS, PS, PS, PS, PS, ZO],
  76     [ZO, ZO, ZO, ZO, ZO, ZO, ZO],
  77     [NL, NS, NS, NS, NS, NS, NL],
  78     [NL, NM, NM, NM, NS, NS, NL],
  79 ];
  80 var ctx = new a.pid_fuzzy();
  81 ctx.rule(me, mec, mkp, mki, mkd);
  82 ctx.set_block(2);
  83 ctx.kpid(10, 0.1, 1);
  84 ctx.op(a.pid_fuzzy.EQU);
  85 console.log(ctx.run(10, 0));
  86 ctx.zero();
  87 console.log(ctx.pos(10, 0));
  88 ctx.zero();
  89 console.log(ctx.inc(10, 0));
  90 ctx.zero();
  91 assert("ctx.kp != undefined");
  92 assert("ctx.ki != undefined");
  93 assert("ctx.kd != undefined");
  94 assert("ctx.summax != undefined");
  95 assert("ctx.summin != undefined");
  96 assert("ctx.sum != undefined");
  97 assert("ctx.outmax != undefined");
  98 assert("ctx.outmin != undefined");
  99 assert("ctx.out != undefined");
 100 assert("ctx.fdb != undefined");
 101 assert("ctx.err != undefined");
 102 assert("ctx.order != undefined");
 103 assert("ctx.block != undefined");
 104 ctx.kp = 0;
 105 ctx.ki = 0;
 106 ctx.kd = 0;
 107 ctx.summax = 0;
 108 ctx.summin = 0;
 109 ctx.outmax = 0;
 110 ctx.outmin = 0;
 111 ctx.block = 0;