pid_controller 0.1.0 → 0.2.0

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: ed3b92ab6f402ed7ca931150c9832a245c62a8fa
-  data.tar.gz: 02b6b58e47954514a8b89d79bc5a3b30bb99595c
+  metadata.gz: 64075129161ab9782dc7fabaf471d096e75bf877
+  data.tar.gz: db661feaafaa8af5d4ff1b4be7c76364e22064ab
 SHA512:
-  metadata.gz: 28b63c397d384f6f06f077185c1b833a5330702286c4e5f0072cfea0dcd77c8f60adcec4b0ff8bcd92bd1e8bff251a32ab16a3852e2b89f78d7da9c55f6d1e86
-  data.tar.gz: 90bee02b13d177287108d51f869001061856a4b14bc4c2955dedc3fa97138c15ae8ca6f7df70df1c352f3923242f3ab76a61261ff2b959ae338d30dce3188780
+  metadata.gz: 2ee1c8f010b1e235aa883b1e33f6b4fce083c991f0e87614f12a6bf99892814cf8abd57e79165e87ca46c1d7093dc450fa94958aafc441cc894deb5b9212d8f5
+  data.tar.gz: b4919aca65fd37811c77ccf6e7900f4fcd63d9241fd97885ae669480c5e584371761a6faf66d4c6c13458c1f62b9f71f350dde418a10939b06352da27ab73431

data/.rubocop.yml

@@ -5,3 +5,12 @@ Metrics/BlockLength:
   ExcludedMethods:
     - context
     - describe
+
+Metrics/LineLength:
+  Max: 120
+
+Metrics/MethodLength:
+  Max: 15
+
+Metrics/ParameterLists:
+  CountKeywordArgs: false

data/.travis.yml

@@ -1,6 +1,8 @@
 sudo: false
 language: ruby
 rvm:
+  - 2.2.8
+  - 2.3.5
   - 2.4.2
 cache: bundler
 before_install: gem install bundler -v 1.16.0

data/Gemfile.lock

@@ -1,7 +1,7 @@
 PATH
   remote: .
   specs:
-    pid_controller (0.1.0)
+    pid_controller (0.2.0)
 
 GEM
   remote: https://rubygems.org/

data/README.md

@@ -1,4 +1,6 @@
 # PidController
+[![Gem Version](https://badge.fury.io/rb/pid_controller.svg)](https://badge.fury.io/rb/pid_controller)
+[![Build Status](https://travis-ci.org/gabetax/pid_controller.svg?branch=master)](https://travis-ci.org/gabetax/pid_controller)
 
 This is a Ruby implementation of a [PID Controller](https://en.wikipedia.org/wiki/PID_controller). A PID controller is a feedback system that is configured with a target setpoint, can read measurements of the system to see how close we are to the setpoint, and will omit an output. Every day examples include:
 

data/lib/pid_controller.rb

@@ -4,17 +4,44 @@ require 'pid_controller/version'
 class PidController
   attr_accessor :setpoint, :kp, :ki, :kd
 
-  def initialize(setpoint:, kp: 1.0, ki: 1.0, kd: 1.0)
+  def initialize(
+    setpoint:,
+    kp: 1.0,
+    ki: 1.0,
+    kd: 1.0,
+    integral_min: nil,
+    integral_max: nil,
+    output_min: nil,
+    output_max: nil
+  )
     @setpoint = setpoint
     @kp = kp
     @ki = ki
     @kd = kd
+    # Prevents https://en.wikipedia.org/wiki/Integral_windup via bounds
+    @integral_min = integral_min || -Float::INFINITY
+    @integral_max = integral_max || Float::INFINITY
+    @output_min = output_min || -Float::INFINITY
+    @output_max = output_max || Float::INFINITY
     @integral   = 0.0
     @derivative = 0.0
     @last_error  = nil
     @last_update = nil
   end
 
+  unless defined?(0.clamp)
+    # Comparable#clamp is introduced in Ruby 2.4
+    module NumericClamp
+      # I'd refine Comparable itself, but older Rubies can't refine modules
+      refine Numeric do
+        def clamp(min, max)
+          [min, [max, self].min].max
+        end
+      end
+    end
+    using NumericClamp
+  end
+
   def update(measurement)
     now = clock_time
     dt = if @last_update
@@ -32,7 +59,7 @@ class PidController
     error = setpoint - measurement.to_f
 
     if dt > 0.0
-      @integral += error * dt
+      @integral = (@integral + error * dt).clamp(@integral_min, @integral_max)
       @derivative = (error - @last_error) / dt
     end
 
@@ -42,7 +69,7 @@ class PidController
   end
 
   def output
-    p_term + i_term + d_term
+    (p_term + i_term + d_term).clamp(@output_min, @output_max)
   end
 
   def p_term
@@ -57,6 +84,7 @@ class PidController
     kd * @derivative
   end
 
+  # Read the monotonic clock. It avoid horrors of leap seconds and NTP.
   def clock_time
     Process.clock_gettime(Process::CLOCK_MONOTONIC)
   end

data/lib/pid_controller/version.rb

@@ -1,3 +1,3 @@
 class PidController
-  VERSION = '0.1.0'.freeze
+  VERSION = '0.2.0'.freeze
 end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: pid_controller
 version: !ruby/object:Gem::Version
-  version: 0.1.0
+  version: 0.2.0
 platform: ruby
 authors:
 - Gabe Martin-Dempesy