rb-pid-controller 0.0.1

data/VERSION

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+0.0.1

data/lib/rb-pid-controller.rb

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+require 'rb-pid-controller/pid'

data/lib/rb-pid-controller/pid.rb

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+
+module PIDController
+
+  class PID
+
+    attr_accessor :kp, :ki, :kd, :consign
+    
+    def initialize(kp = 1 ,ki = 1,kd = 1)
+      # save pid coefficient
+      @kp = kp.to_f
+      @ki = ki.to_f
+      @kd = kd.to_f
+      @consign = nil
+    
+      self.reset 
+      
+    end
+    
+    #Public methods
+    public
+    
+    def set_consign(consign)
+      @consign = consign.to_f
+    end
+    
+    def <<(value)
+      e,dt = error(value)
+      
+      out = proportional(e) + integrative(e,dt) + derivative(e,dt)
+      @previous_error = e
+      
+      return out
+    end
+    
+    def reset
+      @previous_error = 0.0
+      @integrative = 0.0
+      @last_time = nil
+    end
+    
+    #Private methods
+    private 
+    
+    def error(value)
+      out = value - @consign
+      
+      t = Time.now.to_i
+      if @last_time.nil?
+        dt = 1.0
+      else
+        dt = (t - @last_time).to_f
+      end
+      @last_time = t
+      return out,dt
+    end
+    
+    # compute the proportional term
+    def proportional(error)
+      return @kp*error
+    end
+    
+    # compute the derivative term
+    def derivative(error,dt)
+      return @kd*(error - @previous_error)/dt
+    end
+    
+    # compute the integrative term
+    def integrative(error,dt)
+      @integrative = @integrative + error*dt
+      return @ki*@integrative
+    end
+    
+
+
+  end
+
+  class PD < PID
+    def initialize(kp,kd)
+      super(kp,0,kd)
+    end
+  end
+
+  class PI < PID
+    def initialize(kp,ki)
+      super(kp,ki,0)
+    end
+  end
+
+end

data/rb-pid-controller.gemspec

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+# -*- ruby -*-
+require "rubygems"
+require "rake"
+
+GEMSPEC = Gem::Specification.new do |s|
+  s.name = "rb-pid-controller"
+  s.summary = "Library for creating PID controllers"
+  s.description = <<-EOF
+  Tools for PID control
+  EOF
+  s.version = File.read("VERSION").strip
+  s.license = 'GPL-3'
+  s.author = "MiaoufKirsh"
+  s.files = FileList["{lib}/**/*", "rb-pid-controller.gemspec", "VERSION"].to_a.sort
+  s.require_path = "lib"
+  s.has_rdoc = false
+end

metadata

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+--- !ruby/object:Gem::Specification 
+name: rb-pid-controller
+version: !ruby/object:Gem::Version 
+  hash: 29
+  prerelease: 
+  segments: 
+  - 0
+  - 0
+  - 1
+  version: 0.0.1
+platform: ruby
+authors: 
+- MiaoufKirsh
+autorequire: 
+bindir: bin
+cert_chain: []
+
+date: 2011-05-28 00:00:00 +02:00
+default_executable: 
+dependencies: []
+
+description: "  Tools for PID control\n"
+email: 
+executables: []
+
+extensions: []
+
+extra_rdoc_files: []
+
+files: 
+- VERSION
+- lib/rb-pid-controller.rb
+- lib/rb-pid-controller/pid.rb
+- rb-pid-controller.gemspec
+has_rdoc: true
+homepage: 
+licenses: 
+- GPL-3
+post_install_message: 
+rdoc_options: []
+
+require_paths: 
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement 
+  none: false
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      hash: 3
+      segments: 
+      - 0
+      version: "0"
+required_rubygems_version: !ruby/object:Gem::Requirement 
+  none: false
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      hash: 3
+      segments: 
+      - 0
+      version: "0"
+requirements: []
+
+rubyforge_project: 
+rubygems_version: 1.5.3
+signing_key: 
+specification_version: 3
+summary: Library for creating PID controllers
+test_files: []
+