pidom 0.1.1

checksums.yaml

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data/.gitignore

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+*.gem
+*.rbc
+.bundle
+.config
+.yardoc
+Gemfile.lock
+InstalledFiles
+_yardoc
+coverage
+doc/
+lib/bundler/man
+pkg
+rdoc
+spec/reports
+test/tmp
+test/version_tmp
+tmp

data/.rubocop.yml

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+# Offense count: 3
+# Configuration parameters: MinNameLength, AllowNamesEndingInNumbers, AllowedNames, ForbiddenNames.
+# AllowedNames: io, id, to, by, on, in, at, ip
+Naming/UncommunicativeMethodParamName:
+  Exclude:
+    - 'lib/temper.rb'
+
+Metrics/BlockLength:
+  Exclude:
+    - 'spec/temper_spec.rb'

data/Gemfile

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+source 'https://rubygems.org'
+
+# Specify your gem's dependencies in pidom.gemspec
+gemspec

data/Guardfile

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+# A sample Guardfile
+# More info at https://github.com/guard/guard#readme
+
+## Uncomment and set this to only include directories you want to watch
+# directories %w(app lib config test spec features) \
+#  .select{|d| Dir.exists?(d) ? d : UI.warning("Directory #{d} does not exist")}
+
+## Note: if you are using the `directories` clause above and you are not
+## watching the project directory ('.'), then you will want to move
+## the Guardfile to a watched dir and symlink it back, e.g.
+#
+#  $ mkdir config
+#  $ mv Guardfile config/
+#  $ ln -s config/Guardfile .
+#
+# and, you'll have to watch "config/Guardfile" instead of "Guardfile"
+
+# guard 'rake', :task => 'build' do
+#  watch(%r{^my_file.rb})
+# end
+
+guard :rubocop do
+  watch(/.+\.rb$/)
+  watch(%r{(?:.+/)?\.rubocop(?:_todo)?\.yml$}) { |m| File.dirname(m[0]) }
+end
+
+# Note: The cmd option is now required due to the increasing number of ways
+#       rspec may be run, below are examples of the most common uses.
+#  * bundler: 'bundle exec rspec'
+#  * bundler binstubs: 'bin/rspec'
+#  * spring: 'bin/rspec' (This will use spring if running and you have
+#                          installed the spring binstubs per the docs)
+#  * zeus: 'zeus rspec' (requires the server to be started separately)
+#  * 'just' rspec: 'rspec'
+guard :rspec, cmd: 'bundle exec rspec' do
+  require 'guard/rspec/dsl'
+  dsl = Guard::RSpec::Dsl.new(self)
+
+  # Feel free to open issues for suggestions and improvements
+
+  # RSpec files
+  rspec = dsl.rspec
+  watch(rspec.spec_helper) { rspec.spec_dir }
+  watch(rspec.spec_support) { rspec.spec_dir }
+  watch(rspec.spec_files)
+
+  # Ruby files
+  ruby = dsl.ruby
+  dsl.watch_spec_files_for(ruby.lib_files)
+
+  # Turnip features and steps
+  watch(%r{^spec/acceptance/(.+)\.feature$})
+  watch(%r{^spec/acceptance/steps/(.+)_steps\.rb$}) do |m|
+    Dir[File.join("**/#{m[1]}.feature")][0] || 'spec/acceptance'
+  end
+end

data/LICENSE.txt

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+Copyright (c) 2013 Andrew Nordman, Marcos Piccinini
+
+MIT License
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

data/README.md

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+# Pidom
+
+Temperature controlling, easy way.  It uses an improved PID algorithm to
+decrease overshoots and regulate based on continued inputs.
+
+## Installation
+
+Add this line to your application's Gemfile:
+
+    gem 'pidom'
+
+And then execute:
+
+    $ bundle
+
+Or install it yourself as:
+
+    $ gem install pidom
+
+## Usage
+
+To start, create an instance of Pidom::PID.  The PID algorithm can be configured with
+custom minimum and maximum values for ease of integration with external control systems
+(PWM-controlled heating elements, for example).  Once created, run `Pidom::PID#control`
+in your control loop, feeding it sensor data.
+
+## Proportional on Measurement
+
+All thanks to
+
+http://brettbeauregard.com/blog/category/pid/
+
+Also:
+
+https://controlguru.com/pid-control-and-derivative-on-measurement/
+
+### Minimum Interval Calculation
+
+The algorithm being used is minimum interval and will not recalibrate until the time interval
+has passed before recalibrating.  This helps mitigate excess compensation and inconsistent
+adjustment. The update interval is also configurable in Pidom with the `interval` option.
+
+### Directional Control
+
+When handling cooling-based temperature control, negative values are a pain for
+translation.  To assist with this, Pidom uses a directional control parameter.  The two
+possible states are `:direct` and `:reverse`.  When using `:reverse`, negative values
+are inverted.
+
+### Tuning
+
+Pidom's PID is manually tuned with the `tune` method, which takes a Kp, Ki, and Kd value. By
+default, Pidom will set them to 1.0.  `Pidom::PID` also can take the kp, ki, and kd options
+in the constructor call.
+
+## Example
+
+``` ruby
+require 'pidom'
+
+pidom = Pidom::PID.new(interval: 1000, minimum: 0, maximum: 1000, direction: :direct)
+pidom.tune(9.0, 25.0, 6.0) # Set Kp, Ki, and Kd
+pidom.setpoint = 100.0       # Set target temperature
+
+while input = read_sensor()   # Replace read_sensor with your external system
+  output = pidom.control(input)
+  # output is a value betwen minimum and maximum. This can be used for thresholds or
+  # PWM-based control
+end
+```
+
+For more examples check out the [examples](examples/) directory.
+
+## Temper
+
+This is a rewrite of 'temper-control' gem with PonM algorithm.
+
+
+## Contributing
+
+1. Fork it
+2. Create your feature branch (`git checkout -b my-new-feature`)
+3. Commit your changes (`git commit -am 'Add some feature'`)
+4. Push to the branch (`git push origin my-new-feature`)
+5. Create new Pull Request

data/Rakefile

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+require 'bundler/gem_tasks'

data/examples/wiringpi.rb

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+###############
+#
+# This example uses WiringPi-Ruby (https://github.com/WiringPi/WiringPi-Ruby)
+# to read sensor data from GPIO 7, feed it to Pidom, and adjust the heat
+# control via PWM based on the resulting power level returned from Pidom.
+# It is controlled for 60s.
+#
+###############
+require 'wiringpi'
+
+# Setup GPIO for sensor data and heat control
+io = WiringPi::GPIO.new
+SENSOR_PIN = 7
+PWM_PIN = 11
+io.mode SENSOR_PIN, WiringPi::INPUT
+io.mode PWN_PIN, WiringPi::PWM_OUTPUT
+
+# Setup PID
+
+pid = Pidom::PID.new kp: 1.0, ki: 1.0, kd: 1.0, maximum: 100
+pid.setpoint = 175.5 # Target temp - Degrees Fahrenheit
+
+# Control temp for 60 seconds
+stop = Time.now + 60
+
+while Time.now < stop
+  temperature = io.read SENSOR_PIN
+  adjusted_power_level = pid.control temperature
+  io.pwmWrite PWM_PIN, adjusted_power_level
+end

data/lib/pidom.rb

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+require 'pidom/version'
+
+module Pidom
+  # Le PID
+  class PID
+    attr_accessor :kp, :ki, :kd, :pom, :setpoint, :direction, :output
+
+    def initialize(options = {})
+      @interval   = options[:interval] || 1000
+      @last_time  = 0.0
+      @last_input = 0.0
+      @output_sum = 0.0
+      @output_max = options[:maximum] || 1000
+      @output_min = options[:minimum] || 0
+
+      @kp = options.delete(:kp)
+      @ki = options.delete(:ki)
+      @kd = options.delete(:kd)
+
+      self.pom = options[:pom] ? true : false
+      self.mode = options[:mode] || :auto
+      self.direction = options[:direction] || :direct
+    end
+
+    def control(input)
+      return unless @auto # manual mode
+
+      now = Time.now.to_f
+      time_change = (now - @last_time) * 1000
+      return unless time_change >= @interval
+
+      error = @setpoint - input
+      dinput = input - @last_input
+
+      # Calculate Sum
+      @output_sum += ki * error
+
+      # Add Proportional on Measurement
+      @output_sum -= kp * dinput if pom
+
+      @output_sum = @output_max if @output_sum > @output_max
+      @output_sum = @output_min if @output_sum < @output_min
+
+      # Add Proportional on Error
+      @output = pom ? 0 : kp * error
+
+      # Finish PID
+      @output += @output_sum - kd * dinput
+
+      @output = @output_max if @output > @output_max
+      @output = @output_min if @output < @output_min
+
+      @last_time = now
+      @last_input = input
+
+      @output
+    end
+
+    def tune(kp, ki, kd, pom = nil)
+      return if kp < 0 || ki < 0 || kd < 0
+
+      @pom = pom == true
+      interval_seconds = @interval / 1000.0
+
+      @kp = kp
+      @ki = ki * interval_seconds
+      @kd = kd / interval_seconds
+
+      return if @direction == :direct
+      @kp = 0 - @kp
+      @ki = 0 - @ki
+      @kd = 0 - @kd
+    end
+
+    def update_interval(new_interval)
+      return unless new_interval > 0
+      ratio = new_interval / @interval
+
+      @ki *= ratio
+      @kd /= ratio
+      @interval = new_interval
+    end
+
+    def mode=(mode)
+      @auto = mode == :auto
+    end
+
+    def mode
+      @auto ? :auto : :manual
+    end
+  end
+end

data/lib/pidom/version.rb

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+module Pidom
+  VERSION = '0.1.1'.freeze
+end

data/pidom.gemspec

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+lib = File.expand_path('lib', __dir__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'pidom/version'
+
+Gem::Specification.new do |gem|
+  gem.name          = 'pidom'
+  gem.version       = Pidom::VERSION
+  gem.authors       = ['Andrew Nordman', 'Marcos Piccinini']
+  gem.email         = ['pidr@pidr.com']
+  gem.description   = 'PID Control Library'
+  gem.summary       = 'Temperature/motion controller based on the PID PonM algorithm'
+  gem.homepage      = 'https://github.com/nofxx/pidom'
+
+  gem.files         = `git ls-files`.split($INPUT_RECORD_SEPARATOR)
+  gem.executables   = gem.files.grep(%r{^bin/}).map { |f| File.basename(f) }
+  gem.test_files    = gem.files.grep(%r{^(test|spec|features)/})
+  gem.require_paths = ['lib']
+
+  gem.add_development_dependency 'rspec'
+end

data/spec/pidom_spec.rb

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+require 'spec_helper'
+
+describe Pidom::PID do
+  let(:controller) { Pidom::PID.new }
+
+  before do
+    controller.setpoint = 100.0
+    controller.tune 1.0, 1.0, 1.0
+  end
+  subject { controller }
+
+  it { expect(subject.kp).to eq 1.0 }
+  it { expect(subject.ki).to eq 1.0 }
+  it { expect(subject.kd).to eq 1.0 }
+  it { expect(subject.pom).to be_falsey }
+  it { expect(subject.mode).to eq :auto }
+  it { expect(subject.direction).to eq :direct }
+
+  context 'reverse' do
+    before do
+      controller.direction = :reverse
+      controller.tune 1.0, 1.0, 1.0
+    end
+    subject { controller }
+
+    it { expect(subject.kp).to eq(-1.0) }
+    it { expect(subject.ki).to eq(-1.0) }
+    it { expect(subject.kd).to eq(-1.0) }
+    it { expect(subject.mode).to eq :auto }
+    it { expect(subject.direction).to eq :reverse }
+  end
+
+  # TODO..Mock Time?
+  context 'computing data PoE' do
+    before do
+      controller.control 50.0
+    end
+
+    it { expect(subject.output).to eq 50.0 }
+    it { expect(subject.pom).to be_falsey }
+
+    it 'should calc it' do
+      controller.setpoint = 75.0
+      expect(subject.output).to eq 50.0
+      sleep 1
+      controller.control 50.0
+      expect(subject.output).to eq 100.0
+      sleep 1
+      controller.control 85.0
+      expect(subject.output).to eq 20.0
+    end
+  end
+
+  context 'computing data PoM' do
+    before do
+      controller.control 50.0
+      controller.pom = true
+    end
+
+    it { expect(subject.output).to eq 50.0 }
+    it { expect(subject.pom).to be_truthy }
+
+    it 'should calc it' do
+      controller.setpoint = 75.0
+      expect(subject.output).to eq 50.0
+      sleep 1
+      controller.control 50.0
+      expect(subject.output).to eq 75.0
+      sleep 1
+      controller.control 72.0
+      expect(subject.output).to eq 34.0
+    end
+  end
+end

data/spec/spec_helper.rb

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+$LOAD_PATH.push File.join(File.dirname(__FILE__), '..', 'lib')
+
+require 'pidom'

metadata

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+--- !ruby/object:Gem::Specification
+name: pidom
+version: !ruby/object:Gem::Version
+  version: 0.1.1
+platform: ruby
+authors:
+- Andrew Nordman
+- Marcos Piccinini
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2018-08-28 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: rspec
+  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'
+description: PID Control Library
+email:
+- pidr@pidr.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- ".gitignore"
+- ".rubocop.yml"
+- Gemfile
+- Guardfile
+- LICENSE.txt
+- README.md
+- Rakefile
+- examples/wiringpi.rb
+- lib/pidom.rb
+- lib/pidom/version.rb
+- pidom.gemspec
+- spec/pidom_spec.rb
+- spec/spec_helper.rb
+homepage: https://github.com/nofxx/pidom
+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: 2.7.6
+signing_key: 
+specification_version: 4
+summary: Temperature/motion controller based on the PID PonM algorithm
+test_files:
+- spec/pidom_spec.rb
+- spec/spec_helper.rb