PID Controller Implementation

.travis.yml

@@ -22,6 +22,8 @@ matrix:
 
 before_install:
   - pip install --user cpp-coveralls
+  - sudo -H pip install --upgrade requests[security]
+
 install:
   - sudo apt-get install -y -qq lcov
 script:
@@ -35,6 +37,5 @@ script:
 
 after_success:
   - coveralls --root .. -E ".*external.*" -E ".*CMakeFiles.*" -E ".*test/.*.cpp.*"
-
 notifications:
   email: false

.vscode/c_cpp_properties.json

@@ -8,26 +8,47 @@
                 "${workspaceRoot}/vendor/boost",
                 "/usr/include"
             ],
-            "browse" : {
-                "limitSymbolsToIncludedHeaders" : true,
-                "databaseFilename" : ""
-            }
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": ""
+            },
+            "macFrameworkPath": [
+                "/System/Library/Frameworks",
+                "/Library/Frameworks"
+            ],
+            "intelliSenseMode": "clang-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu11",
+            "cppStandard": "gnu++14"
         },
         {
             "name": "Linux",
-            "includePath": ["/usr/include"],
-            "browse" : {
-                "limitSymbolsToIncludedHeaders" : true,
-                "databaseFilename" : ""
-            }
+            "includePath": [
+                "/usr/include"
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": ""
+            },
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu11",
+            "cppStandard": "gnu++14"
         },
         {
             "name": "Win32",
-            "includePath": ["c:/Program Files (x86)/Microsoft Visual Studio 14.0/VC/include"],
-            "browse" : {
-                "limitSymbolsToIncludedHeaders" : true,
-                "databaseFilename" : ""
-            }
+            "includePath": [
+                "c:/Program Files (x86)/Microsoft Visual Studio 14.0/VC/include"
+            ],
+            "browse": {
+                "limitSymbolsToIncludedHeaders": true,
+                "databaseFilename": ""
+            },
+            "intelliSenseMode": "msvc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu11",
+            "cppStandard": "gnu++14"
         }
-    ]
-}
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -1,6 +1,6 @@
 {
     // cpp general
-    "C_Cpp.clang_format_style": "visual studio",
+    "C_Cpp.clang_format_style": "Google",
 
     // cmake
     "cmake.generator.all": "ninja",
@@ -22,5 +22,6 @@
         "ms-vscode.cpptools",
         "RichardHe.you-complete-me",
         "vector-of-bool.cmake-tools"
-	]
+    ],
+    "C_Cpp.clang_format_fallbackStyle": "Google"
 }

CMakeLists.txt

@@ -11,7 +11,7 @@ if (COVERAGE)
     include(CodeCoverage)
     set(LCOV_REMOVE_EXTRA "'vendor/*'")
     setup_target_for_coverage(code_coverage test/cpp-test coverage)
-    set(COVERAGE_SRCS app/main.cpp include/lib.hpp)
+    set(COVERAGE_SRCS app/main.cpp app/PID.cpp include/PID.h)
 
     SET(CMAKE_CXX_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")
     SET(CMAKE_C_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")

app/CMakeLists.txt

@@ -1,4 +1,4 @@
-add_executable(shell-app main.cpp)
+add_executable(shell-app main.cpp PID.cpp)
 include_directories(
     ${CMAKE_SOURCE_DIR}/include
 )

app/PID.cpp

@@ -0,0 +1,53 @@
+/**
+ * Copyright 2020 <Aditya Khopkar> <Rajeshwar N S>
+ * */
+
+/**
+ * @file: PID.cpp
+ * @brief: Contains the class definition of PID control
+ * @author: Part 1 : Aditya Khopkar (driver), Rajeshwar N S (navigator)
+ * @author: Part 2 - Spencer Elyard (driver), Daniel Sahu (navigator)
+ * */
+
+#include "PID.h"
+
+// constructor
+control::PID::PID() {
+  kp_ = 1.2;
+  ki_ = 0.4;
+  kd_ = 0.2;
+  dt_ = 1;
+  prev_error_ = 0.0;
+  integral_error_ = 0.0;
+}
+
+void control::PID::SetKp(double kp) { this->kp_ = kp; }
+
+void control::PID::SetKd(double kd) { this->kd_ = kd; }
+
+void control::PID::SetKi(double ki) { this->ki_ = ki; }
+
+double control::PID::Compute(double feedback, double setpoint) {
+  // calculate current error
+  double current_error = setpoint - feedback;
+  // Proportional controller portion
+  double proportional = kp_ * current_error;
+  // Integral controller portion
+  double integral = ki_ * (integral_error_ + current_error * dt_);
+  // Derivative
+  double derivative = kd_ * ((current_error - prev_error_) / dt_);
+  // calculate output
+  double output = proportional + integral + derivative;
+  // save error as previous prev_error_
+  prev_error_ = current_error;
+  return output;
+}
+
+const double& control::PID::GetKp() { return this->kp_; }
+
+const double& control::PID::GetKd() { return this->kd_; }
+
+const double& control::PID::GetKi() { return this->ki_; }
+
+// destructor
+control::PID::~PID() {}

app/main.cpp

@@ -1,8 +1,28 @@
+/**
+ * Copyright 2020 <Aditya Khopkar> <Rajeshwar N S>
+ * */
+
+/**
+ * @file: main.cpp
+ * @brief: Contains the main function of the program
+ * @author: Part 1 - Aditya Khopkar (driver), Rajeshwar N S (navigator)
+ * @author: Part 2 - Spencer Elyard (driver), Daniel Sahu (navigator)
+ * */
+
 #include <iostream>
-#include <lib.hpp>
+#include <vector>
+
+#include "../include/PID.h"
 
-int main()
-{
-    dummy();
-    return 0;
+/**
+ * @brief: main function
+ * @param: None
+ * @return: 0
+ * */
+int main() {
+  control::PID controller;
+  double new_velocity = controller.Compute(4.0, 8.0);
+  std::cout << "Actual Velocity: " << 4.0 << " Desired Velocity: " << 8.0
+            << " New Velocity: " << new_velocity << std::endl;
+  return 0;
 }

include/PID.h

@@ -0,0 +1,89 @@
+/**
+ * Copyright 2020 <Aditya Khopkar> <Rajeshwar N S>
+ * */
+
+/**
+ * @file: PID.h
+ * @brief: Contains the class declaration of PID control
+ * @author: Part 1 : Aditya Khopkar (driver), Rajeshwar N S (navigator)
+ * @author: Part 2 - Spencer Elyard (driver), Daniel Sahu (navigator)
+ * */
+
+#pragma once
+
+namespace control {
+class PID {
+ private:
+  double kp_;
+  double ki_;
+  double kd_;
+  double dt_;
+  double prev_error_;
+  double integral_error_;
+
+ public:
+  /**
+   * @brief: Setter for kp
+   * @param: kp: double
+   * @return: None
+   * */
+  void SetKp(double);
+
+  /**
+   * @brief: Setter for kd
+   * @param: kd: double
+   * @return: None
+   * */
+  void SetKd(double);
+
+  /**
+   * @brief: Setter for ki
+   * @param: ki: double
+   * @return: None
+   * */
+  void SetKi(double);
+
+  /**
+   * @brief: Computes the new value of velocity given a setpoint and current
+   * value
+   * @param: feedback: double, setpoint: double
+   * @return: new velocity: double
+   * */
+  double Compute(double, double);
+
+  /**
+   * @brief: Getter for kp
+   * @param: None
+   * @return: const double value
+   * */
+  const double& GetKp();
+
+  /**
+   * @brief: Getter for kd
+   * @param: None
+   * @return: const double value
+   * */
+  const double& GetKd();
+
+  /**
+   * @brief: Getter for ki
+   * @param: None
+   * @return: const double value
+   * */
+  const double& GetKi();
+
+  /**
+   * @brief: Implementation of constructor
+   * @param: None
+   * @return: None
+   * */
+  PID();
+
+  /**
+   * @brief: Destructor call of class
+   * @param: None
+   * @return: None
+   * */
+  virtual ~PID();
+};
+}  // namespace control

readme.md

@@ -1,19 +1,24 @@
-# C++ Boilerplate
-[![Build Status](https://travis-ci.org/dpiet/cpp-boilerplate.svg?branch=master)](https://travis-ci.org/dpiet/cpp-boilerplate)
-[![Coverage Status](https://coveralls.io/repos/github/dpiet/cpp-boilerplate/badge.svg?branch=master)](https://coveralls.io/github/dpiet/cpp-boilerplate?branch=master)
+# PID Controller (Test Driven Development)
+[![Build Status](https://travis-ci.org/akhopkar01/PID_controller.svg?branch=master)](https://travis-ci.org/github/akhopkar01/PID_controller)
+[![Coverage Status](https://coveralls.io/repos/github/akhopkar01/PID_controller/badge.svg?branch=master)](https://coveralls.io/github/akhopkar01/PID_controller?branch=master)
 ---
 
 ## Overview
 
-Simple starter C++ project with:
+This project is worked in groups to carry out TDD. We have implemented a PID controller with Unit Tests to validate software quality.
 
-- cmake
-- googletest
+### Authors: 
+[ Part 1 ] Aditya Khopkar (driver), Rajeshwar N S (navigator)
+
+[ Part 2 ] Spencer Elyard (driver), Daniel Sahu (navigator)
+
+### TO-DO for future:
+Investigate additional test-cases for compute 
 
 ## Standard install via command-line
 ```
-git clone --recursive https://github.com/dpiet/cpp-boilerplate
-cd <path to repository>
+git clone --recursive https://github.com/akhopkar01/PID_controller
+cd PID_controller
 mkdir build
 cd build
 cmake ..
@@ -39,24 +44,24 @@ In your Eclipse workspace directory (or create a new one), checkout the repo (an
 ```
 mkdir -p ~/workspace
 cd ~/workspace
-git clone --recursive https://github.com/dpiet/cpp-boilerplate
+git clone --recursive https://github.com/danielmohansahu/mobile-pid-controller
 ```
 
-In your work directory, use cmake to create an Eclipse project for an [out-of-source build] of cpp-boilerplate
+In your work directory, use cmake to create an Eclipse project for an [out-of-source build] of mobile-pid-controller
 
 ```
 cd ~/workspace
 mkdir -p boilerplate-eclipse
 cd boilerplate-eclipse
-cmake -G "Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug -D CMAKE_ECLIPSE_VERSION=4.7.0 -D CMAKE_CXX_COMPILER_ARG1=-std=c++14 ../cpp-boilerplate/
+cmake -G "Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug -D CMAKE_ECLIPSE_VERSION=4.7.0 -D CMAKE_CXX_COMPILER_ARG1=-std=c++14 ../mobile-pid-controller/
 ```
 
 ## Import
 
 Open Eclipse, go to File -> Import -> General -> Existing Projects into Workspace -> 
 Select "boilerplate-eclipse" directory created previously as root directory -> Finish
 
-# Edit
+## Edit
 
 Source files may be edited under the "[Source Directory]" label in the Project Explorer.
 
@@ -95,32 +100,3 @@ debugger window.
 7. Press Terminate icon to terminate debugging and press C/C++ icon to switch back to C/C++ 
 perspetive view (or Windows->Perspective->Open Perspective->C/C++).
 
-
-## Plugins
-
-- CppChEclipse
-
-    To install and run cppcheck in Eclipse
-
-    1. In Eclipse, go to Window -> Preferences -> C/C++ -> cppcheclipse.
-    Set cppcheck binary path to "/usr/bin/cppcheck".
-
-    2. To run CPPCheck on a project, right click on the project name in the Project Explorer 
-    and choose cppcheck -> Run cppcheck.
-
-
-- Google C++ Sytle
-
-    To include and use Google C++ Style formatter in Eclipse
-
-    1. In Eclipse, go to Window -> Preferences -> C/C++ -> Code Style -> Formatter. 
-    Import [eclipse-cpp-google-style][reference-id-for-eclipse-cpp-google-style] and apply.
-
-    2. To use Google C++ style formatter, right click on the source code or folder in 
-    Project Explorer and choose Source -> Format
-
-[reference-id-for-eclipse-cpp-google-style]: https://raw.githubusercontent.com/google/styleguide/gh-pages/eclipse-cpp-google-style.xml
-
-- Git
-
-    It is possible to manage version control through Eclipse and the git plugin, but it typically requires creating another project. If you're interested in this, try it out yourself and contact me on Canvas.