pid_controller 0.1.0

checksums.yaml

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+SHA1:
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+  data.tar.gz: 02b6b58e47954514a8b89d79bc5a3b30bb99595c
+SHA512:
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data/.gitignore

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+/.bundle/
+/.yardoc
+/_yardoc/
+/coverage/
+/doc/
+/pkg/
+/spec/reports/
+/tmp/
+
+# rspec failure tracking
+.rspec_status

data/.rspec

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+--format documentation
+--color
+--require spec_helper

data/.rubocop.yml

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+AllCops:
+  DisplayCopNames: true
+
+Metrics/BlockLength:
+  ExcludedMethods:
+    - context
+    - describe

data/.travis.yml

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+sudo: false
+language: ruby
+rvm:
+  - 2.4.2
+cache: bundler
+before_install: gem install bundler -v 1.16.0
+branches:
+  only: [master]
+script: $TASK
+env:
+  matrix:
+    - TASK="bundle exec rspec"
+    - TASK="bundle exec rubocop"
+

data/Gemfile

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+source 'https://rubygems.org'
+
+git_source(:github) { |repo_name| "https://github.com/#{repo_name}" }
+
+# Specify your gem's dependencies in pid_controller.gemspec
+gemspec

data/Gemfile.lock

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+PATH
+  remote: .
+  specs:
+    pid_controller (0.1.0)
+
+GEM
+  remote: https://rubygems.org/
+  specs:
+    ast (2.3.0)
+    coderay (1.1.2)
+    diff-lcs (1.3)
+    method_source (0.9.0)
+    parallel (1.12.0)
+    parser (2.4.0.2)
+      ast (~> 2.3)
+    powerpack (0.1.1)
+    pry (0.11.3)
+      coderay (~> 1.1.0)
+      method_source (~> 0.9.0)
+    rainbow (2.2.2)
+      rake
+    rake (10.5.0)
+    rspec (3.7.0)
+      rspec-core (~> 3.7.0)
+      rspec-expectations (~> 3.7.0)
+      rspec-mocks (~> 3.7.0)
+    rspec-core (3.7.0)
+      rspec-support (~> 3.7.0)
+    rspec-expectations (3.7.0)
+      diff-lcs (>= 1.2.0, < 2.0)
+      rspec-support (~> 3.7.0)
+    rspec-mocks (3.7.0)
+      diff-lcs (>= 1.2.0, < 2.0)
+      rspec-support (~> 3.7.0)
+    rspec-support (3.7.0)
+    rubocop (0.51.0)
+      parallel (~> 1.10)
+      parser (>= 2.3.3.1, < 3.0)
+      powerpack (~> 0.1)
+      rainbow (>= 2.2.2, < 3.0)
+      ruby-progressbar (~> 1.7)
+      unicode-display_width (~> 1.0, >= 1.0.1)
+    ruby-progressbar (1.9.0)
+    unicode-display_width (1.3.0)
+
+PLATFORMS
+  ruby
+
+DEPENDENCIES
+  bundler (~> 1.16)
+  pid_controller!
+  pry
+  rake (~> 10.0)
+  rspec (~> 3.0)
+  rubocop (~> 0.51)
+
+BUNDLED WITH
+   1.16.0

data/README.md

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+# PidController
+
+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:
+
+- Cruise control
+- Thermostats
+- Quadcopters (appearently, because they predominate search results)
+- Database load (yay! This is why the purpose I'm actually writing this for).
+
+## Usage
+
+I mentioned databases, so here's an example of how we can prevent a low priority task (e.g. bulk deletion) from contending with customer traffic:
+
+```ruby
+sensor = MySQLSensor.new # Use your imagination
+controller = PIDController.new(setpoint: 60.0, kp: 5.0, ki: 1.0, kd: 0.1)
+
+Event.where(account_id: account_id).in_batches do |relation|
+  relation.delete_all
+  backoff = controller << sensor.cpu_utilization
+  sleep backoff if backoff > 0
+end
+```
+
+## Development
+
+After checking out the repo, run `bin/setup` to install dependencies. Then, run `rake spec` to run the tests. You can also run `bin/console` for an interactive prompt that will allow you to experiment.
+
+To install this gem onto your local machine, run `bundle exec rake install`. To release a new version, update the version number in `version.rb`, and then run `bundle exec rake release`, which will create a git tag for the version, push git commits and tags, and push the `.gem` file to [rubygems.org](https://rubygems.org).
+
+## Contributing
+
+Bug reports and pull requests are welcome on GitHub at https://github.com/gabetax/pid_controller.

data/Rakefile

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+require 'bundler/gem_tasks'
+require 'rspec/core/rake_task'
+require 'rubocop/rake_task'
+
+RSpec::Core::RakeTask.new(:spec)
+RuboCop::RakeTask.new(:rubocop)
+
+task default: :spec

data/bin/console

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+#!/usr/bin/env ruby
+
+require 'bundler/setup'
+require 'pid_controller'
+
+require 'pry'
+Pry.start

data/bin/setup

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+#!/usr/bin/env bash
+set -euo pipefail
+IFS=$'\n\t'
+set -vx
+
+bundle install
+
+# Do any other automated setup that you need to do here

data/lib/pid_controller.rb

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+require 'pid_controller/version'
+
+# https://en.wikipedia.org/wiki/PID_controller
+class PidController
+  attr_accessor :setpoint, :kp, :ki, :kd
+
+  def initialize(setpoint:, kp: 1.0, ki: 1.0, kd: 1.0)
+    @setpoint = setpoint
+    @kp = kp
+    @ki = ki
+    @kd = kd
+    @integral   = 0.0
+    @derivative = 0.0
+    @last_error  = nil
+    @last_update = nil
+  end
+
+  def update(measurement)
+    now = clock_time
+    dt = if @last_update
+           now - @last_update
+         else
+           0.0
+         end
+    @last_update = now
+    update_with_duration(measurement, dt)
+  end
+
+  alias << update
+
+  def update_with_duration(measurement, dt)
+    error = setpoint - measurement.to_f
+
+    if dt > 0.0
+      @integral += error * dt
+      @derivative = (error - @last_error) / dt
+    end
+
+    @last_error = error
+
+    output
+  end
+
+  def output
+    p_term + i_term + d_term
+  end
+
+  def p_term
+    kp * @last_error
+  end
+
+  def i_term
+    ki * @integral
+  end
+
+  def d_term
+    kd * @derivative
+  end
+
+  def clock_time
+    Process.clock_gettime(Process::CLOCK_MONOTONIC)
+  end
+end

data/lib/pid_controller/version.rb

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+class PidController
+  VERSION = '0.1.0'.freeze
+end

data/pid_controller.gemspec

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+
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'pid_controller/version'
+
+Gem::Specification.new do |spec|
+  spec.name          = 'pid_controller'
+  spec.version       = PidController::VERSION
+  spec.authors       = ['Gabe Martin-Dempesy']
+  spec.email         = ['gabetax@gmail.com']
+
+  spec.summary       = 'A Ruby PID controller implementation'
+  spec.homepage      = 'https://github.com/gabetax/pid_controller'
+
+  spec.files         = `git ls-files -z`.split("\x0").reject do |f|
+    f.match(%r{^(test|spec|features)/})
+  end
+  spec.bindir        = 'exe'
+  spec.executables   = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
+  spec.require_paths = ['lib']
+
+  spec.add_development_dependency 'bundler', '~> 1.16'
+  spec.add_development_dependency 'pry'
+  spec.add_development_dependency 'rake', '~> 10.0'
+  spec.add_development_dependency 'rspec', '~> 3.0'
+  spec.add_development_dependency 'rubocop', '~> 0.51'
+end

metadata

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+--- !ruby/object:Gem::Specification
+name: pid_controller
+version: !ruby/object:Gem::Version
+  version: 0.1.0
+platform: ruby
+authors:
+- Gabe Martin-Dempesy
+autorequire: 
+bindir: exe
+cert_chain: []
+date: 2017-11-29 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: bundler
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.16'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.16'
+- !ruby/object:Gem::Dependency
+  name: pry
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+- !ruby/object:Gem::Dependency
+  name: rspec
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.0'
+- !ruby/object:Gem::Dependency
+  name: rubocop
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.51'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0.51'
+description: 
+email:
+- gabetax@gmail.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- ".gitignore"
+- ".rspec"
+- ".rubocop.yml"
+- ".travis.yml"
+- Gemfile
+- Gemfile.lock
+- README.md
+- Rakefile
+- bin/console
+- bin/setup
+- lib/pid_controller.rb
+- lib/pid_controller/version.rb
+- pid_controller.gemspec
+homepage: https://github.com/gabetax/pid_controller
+licenses: []
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 2.6.13
+signing_key: 
+specification_version: 4
+summary: A Ruby PID controller implementation
+test_files: []