From: Robin Krens <robin@robinkrens.nl>
Date: Wed, 24 Jan 2024 10:25:36 +0000 (+0100)
Subject: add derivative measurement option
X-Git-Url: https://robinkrens.nl/gitweb/?a=commitdiff_plain;h=fcba5c82e722c3c95db85c6d36ff4af6c358eaa5;p=xy-pid-controller

add derivative measurement option
---

diff --git a/src/menu.js b/src/menu.js
index f78a5be..fcc58bc 100644
--- a/src/menu.js
+++ b/src/menu.js
@@ -20,6 +20,13 @@ function initMenu(pid)
 		pid.PIDParams, "integralGain",
 		{min: 0, max: 10, step: 0.1}
 	);
+	pidSettings.addInput(
+		pid.PIDParams, "derivativeMeasurement", {
+		options: {
+			error: "Error",
+			velocity: "Velocity"
+		}
+		});
 	pane.addMonitor(pid.PIDParams, "force", {
 		title: "Force (N)",
   		view: "graph",
diff --git a/src/pid-controller.js b/src/pid-controller.js
index 31240a5..f225098 100644
--- a/src/pid-controller.js
+++ b/src/pid-controller.js
@@ -4,7 +4,7 @@ class PIDController {
 	//    ErrorRateOfChange
 	//}
 	constructor() {
-    	this.PIDParams = {proportionalGain: 2, integralGain: 0.0, derivativeGain: 2, iMin: -1, iMax: 1, integralSaturation: false, derivativeInitialized: false, outputMax: 1, outputMin: -1, magnitude: 10, force: 0};
+    	this.PIDParams = {proportionalGain: 2, integralGain: 0.0, derivativeGain: 2, iMin: -1, iMax: 1, integralSaturation: false, derivativeInitialized: false, outputMax: 1, outputMin: -1, magnitude: 10, force: 0, derivativeMeasurement: "Velocity"};
 		this.valueLast; 
 		this.errorLast;
     	this.integrationStored = 0;
@@ -34,11 +34,11 @@ class PIDController {
 		var deriveMeasure = 0;
 
 		if (this.derivativeInitialized) {
-			//if (derivativeMeasurement == DerivativeMeasurement.Velocity) {
+			if (this.PIDParams.derivativeMeasurement == "Velocity") {
 			deriveMeasure = -valueRateOfChange;
-			//} else {
-			//   deriveMeasure = errorRateOfChange;
-			//}
+			} else {
+			   deriveMeasure = errorRateOfChange;
+			}
 		} else {
 			this.derivativeInitialized = true;
 		}