pid_controller 0.1.0
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- checksums.yaml +7 -0
- data/.gitignore +11 -0
- data/.rspec +3 -0
- data/.rubocop.yml +7 -0
- data/.travis.yml +14 -0
- data/Gemfile +6 -0
- data/Gemfile.lock +58 -0
- data/README.md +33 -0
- data/Rakefile +8 -0
- data/bin/console +7 -0
- data/bin/setup +8 -0
- data/lib/pid_controller.rb +63 -0
- data/lib/pid_controller/version.rb +3 -0
- data/pid_controller.gemspec +27 -0
- metadata +126 -0
checksums.yaml
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metadata.gz: ed3b92ab6f402ed7ca931150c9832a245c62a8fa
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data.tar.gz: 90bee02b13d177287108d51f869001061856a4b14bc4c2955dedc3fa97138c15ae8ca6f7df70df1c352f3923242f3ab76a61261ff2b959ae338d30dce3188780
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data/.gitignore
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data/.rspec
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data/.rubocop.yml
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data/.travis.yml
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data/Gemfile
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data/Gemfile.lock
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PATH
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remote: .
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specs:
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pid_controller (0.1.0)
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GEM
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remote: https://rubygems.org/
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specs:
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ast (2.3.0)
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coderay (1.1.2)
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diff-lcs (1.3)
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method_source (0.9.0)
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parallel (1.12.0)
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parser (2.4.0.2)
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ast (~> 2.3)
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powerpack (0.1.1)
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pry (0.11.3)
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coderay (~> 1.1.0)
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method_source (~> 0.9.0)
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rainbow (2.2.2)
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rake
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rake (10.5.0)
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rspec (3.7.0)
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rspec-core (~> 3.7.0)
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rspec-expectations (~> 3.7.0)
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rspec-mocks (~> 3.7.0)
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rspec-core (3.7.0)
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rspec-support (~> 3.7.0)
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rspec-expectations (3.7.0)
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diff-lcs (>= 1.2.0, < 2.0)
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rspec-support (~> 3.7.0)
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rspec-mocks (3.7.0)
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diff-lcs (>= 1.2.0, < 2.0)
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rspec-support (~> 3.7.0)
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rspec-support (3.7.0)
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rubocop (0.51.0)
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parallel (~> 1.10)
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parser (>= 2.3.3.1, < 3.0)
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powerpack (~> 0.1)
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rainbow (>= 2.2.2, < 3.0)
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ruby-progressbar (~> 1.7)
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unicode-display_width (~> 1.0, >= 1.0.1)
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ruby-progressbar (1.9.0)
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unicode-display_width (1.3.0)
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PLATFORMS
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ruby
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DEPENDENCIES
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bundler (~> 1.16)
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pid_controller!
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pry
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rake (~> 10.0)
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rspec (~> 3.0)
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rubocop (~> 0.51)
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BUNDLED WITH
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1.16.0
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data/README.md
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# PidController
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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:
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- Cruise control
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- Thermostats
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- Quadcopters (appearently, because they predominate search results)
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- Database load (yay! This is why the purpose I'm actually writing this for).
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## Usage
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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:
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```ruby
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sensor = MySQLSensor.new # Use your imagination
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controller = PIDController.new(setpoint: 60.0, kp: 5.0, ki: 1.0, kd: 0.1)
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Event.where(account_id: account_id).in_batches do |relation|
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relation.delete_all
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backoff = controller << sensor.cpu_utilization
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sleep backoff if backoff > 0
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end
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```
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## Development
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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.
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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).
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## Contributing
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Bug reports and pull requests are welcome on GitHub at https://github.com/gabetax/pid_controller.
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data/Rakefile
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data/bin/console
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data/bin/setup
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require 'pid_controller/version'
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# https://en.wikipedia.org/wiki/PID_controller
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class PidController
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attr_accessor :setpoint, :kp, :ki, :kd
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def initialize(setpoint:, kp: 1.0, ki: 1.0, kd: 1.0)
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@setpoint = setpoint
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@kp = kp
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@ki = ki
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@kd = kd
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@integral = 0.0
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@derivative = 0.0
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@last_error = nil
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@last_update = nil
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end
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def update(measurement)
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now = clock_time
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dt = if @last_update
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now - @last_update
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else
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0.0
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end
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@last_update = now
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update_with_duration(measurement, dt)
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end
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alias << update
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def update_with_duration(measurement, dt)
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error = setpoint - measurement.to_f
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if dt > 0.0
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@integral += error * dt
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@derivative = (error - @last_error) / dt
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end
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@last_error = error
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output
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end
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def output
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p_term + i_term + d_term
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end
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def p_term
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kp * @last_error
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end
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def i_term
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ki * @integral
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end
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def d_term
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kd * @derivative
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end
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def clock_time
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Process.clock_gettime(Process::CLOCK_MONOTONIC)
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end
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end
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lib = File.expand_path('../lib', __FILE__)
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$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
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require 'pid_controller/version'
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Gem::Specification.new do |spec|
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spec.name = 'pid_controller'
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spec.version = PidController::VERSION
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spec.authors = ['Gabe Martin-Dempesy']
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spec.email = ['gabetax@gmail.com']
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spec.summary = 'A Ruby PID controller implementation'
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spec.homepage = 'https://github.com/gabetax/pid_controller'
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spec.files = `git ls-files -z`.split("\x0").reject do |f|
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f.match(%r{^(test|spec|features)/})
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end
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spec.bindir = 'exe'
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spec.executables = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
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spec.require_paths = ['lib']
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spec.add_development_dependency 'bundler', '~> 1.16'
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spec.add_development_dependency 'pry'
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spec.add_development_dependency 'rake', '~> 10.0'
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spec.add_development_dependency 'rspec', '~> 3.0'
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spec.add_development_dependency 'rubocop', '~> 0.51'
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end
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metadata
ADDED
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--- !ruby/object:Gem::Specification
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name: pid_controller
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version: !ruby/object:Gem::Version
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version: 0.1.0
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platform: ruby
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authors:
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- Gabe Martin-Dempesy
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autorequire:
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bindir: exe
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cert_chain: []
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date: 2017-11-29 00:00:00.000000000 Z
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dependencies:
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- !ruby/object:Gem::Dependency
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name: bundler
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requirement: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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- !ruby/object:Gem::Version
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version: '1.16'
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type: :development
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prerelease: false
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version_requirements: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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- !ruby/object:Gem::Version
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version: '1.16'
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- !ruby/object:Gem::Dependency
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name: pry
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requirement: !ruby/object:Gem::Requirement
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requirements:
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- - ">="
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- !ruby/object:Gem::Version
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version: '0'
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type: :development
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prerelease: false
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version_requirements: !ruby/object:Gem::Requirement
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requirements:
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- - ">="
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- !ruby/object:Gem::Version
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version: '0'
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- !ruby/object:Gem::Dependency
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name: rake
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requirement: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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- !ruby/object:Gem::Version
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version: '10.0'
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type: :development
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prerelease: false
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version_requirements: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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- !ruby/object:Gem::Version
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version: '10.0'
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- !ruby/object:Gem::Dependency
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name: rspec
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requirement: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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- !ruby/object:Gem::Version
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version: '3.0'
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type: :development
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prerelease: false
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version_requirements: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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67
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- !ruby/object:Gem::Version
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version: '3.0'
|
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- !ruby/object:Gem::Dependency
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name: rubocop
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requirement: !ruby/object:Gem::Requirement
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requirements:
|
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- - "~>"
|
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- !ruby/object:Gem::Version
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version: '0.51'
|
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type: :development
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prerelease: false
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version_requirements: !ruby/object:Gem::Requirement
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requirements:
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- - "~>"
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- !ruby/object:Gem::Version
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version: '0.51'
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description:
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email:
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- gabetax@gmail.com
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executables: []
|
87
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extensions: []
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extra_rdoc_files: []
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files:
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- ".gitignore"
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- ".rspec"
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- ".rubocop.yml"
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93
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- ".travis.yml"
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94
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- Gemfile
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95
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- Gemfile.lock
|
96
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- README.md
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97
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- Rakefile
|
98
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- bin/console
|
99
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+
- bin/setup
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100
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- lib/pid_controller.rb
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101
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- lib/pid_controller/version.rb
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102
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- pid_controller.gemspec
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103
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homepage: https://github.com/gabetax/pid_controller
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licenses: []
|
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metadata: {}
|
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post_install_message:
|
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rdoc_options: []
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require_paths:
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- lib
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required_ruby_version: !ruby/object:Gem::Requirement
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requirements:
|
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- - ">="
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- !ruby/object:Gem::Version
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version: '0'
|
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required_rubygems_version: !ruby/object:Gem::Requirement
|
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requirements:
|
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- - ">="
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- !ruby/object:Gem::Version
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version: '0'
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requirements: []
|
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rubyforge_project:
|
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rubygems_version: 2.6.13
|
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signing_key:
|
124
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specification_version: 4
|
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summary: A Ruby PID controller implementation
|
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test_files: []
|