test/pid_neuro.h

   1 #define MAIN_(x) A_CAST_2(x, _pid_neuro)
   2 #include "test.h"
   3 #include "a/tf.h"
   4 // #include "a/math.h"
   5 #include "a/pid_neuro.h"
   6
   7 static A_INLINE a_float input(a_float const x)
   8 {
   9 #if defined(LIBA_MATH_H)
  10     return a_float_sin(4 * A_FLOAT_PI * x);
  11 #else
  12     return (void)x, 1;
  13 #endif
  14 }
  15
  16 int MAIN(int argc, char *argv[]) // NOLINT(misc-definitions-in-headers)
  17 {
  18     main_init(argc, argv, 1);
  19
  20     a_float num[] = {A_FLOAT_C(6.59492796e-05), A_FLOAT_C(6.54019884e-05)};
  21     a_float den[] = {A_FLOAT_C(-1.97530991), A_FLOAT_C(0.97530991)};
  22
  23     a_tf tf;
  24     a_float tf_input[A_LEN(num)];
  25     a_float tf_output[A_LEN(den)];
  26     a_tf_init(&tf, A_LEN(num), num, tf_input, A_LEN(den), den, tf_output);
  27
  28     a_pid_neuro ctx;
  29     ctx.pid.kp = A_FLOAT_C(4.0);
  30     ctx.pid.ki = A_FLOAT_C(0.04);
  31     ctx.pid.kd = A_FLOAT_C(1.0);
  32     ctx.pid.outmax = +A_FLOAT_MAX;
  33     ctx.pid.outmin = -A_FLOAT_MAX;
  34     ctx.k = A_FLOAT_C(4000.0);
  35     ctx.wp = A_FLOAT_C(0.1);
  36     ctx.wi = A_FLOAT_C(0.1);
  37     ctx.wd = A_FLOAT_C(0.1);
  38     a_pid_neuro_init(&ctx);
  39     for (unsigned int i = 0; i < 100; ++i)
  40     {
  41         a_float const in = input(A_FLOAT_C(0.001) * a_float_c(i));
  42         a_tf_iter(&tf, a_pid_neuro_inc(&ctx, in, *tf.output));
  43         debug(A_FLOAT_PRI("+", "f ") A_FLOAT_PRI("+", "f ") A_FLOAT_PRI("+", "f ") A_FLOAT_PRI("+", "f\n"),
  44               A_FLOAT_C(0.001) * a_float_c(i), in, *tf.output, ctx.pid.err);
  45     }
  46     a_pid_neuro_zero(&ctx);
  47     a_tf_zero(&tf);
  48
  49 #if defined(__cplusplus) && (__cplusplus > 201100L)
  50     A_ASSERT_BUILD(std::is_pod<a_pid_neuro>::value);
  51 #endif /* __cplusplus */
  52
  53     return 0;
  54 }