From 1b5a03c899e2c80e55e59be0312ea7141dd6c3f5 Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <cont-frb@ulund.org>
Date: Mon, 21 Aug 2017 20:08:24 +0200
Subject: [PATCH] Add a bias term to interface spec.
---
src/LabProcesses.jl | 2 +-
src/controllers.jl | 1 +
src/interface.jl | 1 +
src/interface_documentation.jl | 8 ++++++++
src/interface_implementations/ballandbeam.jl | 3 +++
src/interface_implementations/eth_helicopter.jl | 4 ++++
6 files changed, 18 insertions(+), 1 deletion(-)
diff --git a/src/LabProcesses.jl b/src/LabProcesses.jl
index 83713b7..e7cc583 100644
--- a/src/LabProcesses.jl
+++ b/src/LabProcesses.jl
@@ -1,4 +1,4 @@
-#__precompile__()
+__precompile__()
module LabProcesses
diff --git a/src/controllers.jl b/src/controllers.jl
index 1bdb043..8b91d74 100644
--- a/src/controllers.jl
+++ b/src/controllers.jl
@@ -24,6 +24,7 @@ function run_control_2DOF(P::AbstractProcess,sysFB, sysFF=nothing; duration = 10
rf = sysFF == nothing ? r[i] : sysfilter!(stateFF, sysFF, r[i])
e = rf-y[i]
ui = sysfilter!(stateFB, sysFB, e)[1]
+ ui + bias(P)
end
initialize(P)
diff --git a/src/interface.jl b/src/interface.jl
index 065dbd6..db99995 100644
--- a/src/interface.jl
+++ b/src/interface.jl
@@ -24,6 +24,7 @@ inputrange(p::AbstractProcess) = error("Function not implemented for $(typeof(p
isstable(p::AbstractProcess) = error("Function not implemented for $(typeof(p))")
isasstable(p::AbstractProcess) = error("Function not implemented for $(typeof(p))")
sampletime(p::AbstractProcess) = error("Function not implemented for $(typeof(p))")
+bias(p::AbstractProcess) = error("Function not implemented for $(typeof(p))")
control(p::AbstractProcess, u) = error("Function not implemented for $(typeof(p))")
measure(p::AbstractProcess) = error("Function not implemented for $(typeof(p))")
diff --git a/src/interface_documentation.jl b/src/interface_documentation.jl
index 59e6de5..d9fec07 100644
--- a/src/interface_documentation.jl
+++ b/src/interface_documentation.jl
@@ -62,6 +62,14 @@ Return the sample time of the process in seconds.
"""
sampletime
+"""
+ b = bias(P::AbstractProcess)
+Return an input bias for the process. This could be, i.e., the constant input uâ‚€ around which
+a nonlinear system is linearized, or whatever other bias might exist on the input.
+`length(b) = num_inputs(P)`
+"""
+bias
+
"""
control(P::AbstractProcess, u)
Send a control signal to the process. `u` must have dimension equal to `num_inputs(P)`
diff --git a/src/interface_implementations/ballandbeam.jl b/src/interface_implementations/ballandbeam.jl
index e4a8a63..fe1ed04 100644
--- a/src/interface_implementations/ballandbeam.jl
+++ b/src/interface_implementations/ballandbeam.jl
@@ -22,6 +22,9 @@ inputrange(p::BallAndBeamType) = [(-10,10)]
isstable(p::BallAndBeamType) = false
isasstable(p::BallAndBeamType) = false
sampletime(p::BallAndBeamType) = p.h
+bias(p::BallAndBeam) = p.bias
+bias(p::BallAndBeamSimulator) = 0
+
control(p::BallAndBeam, u) = ccall((:comedi_write, comedipath),Int32,
(Int32,Int32,Int32,Int32),0,1,1,num2io(u[1]+p.bias))
diff --git a/src/interface_implementations/eth_helicopter.jl b/src/interface_implementations/eth_helicopter.jl
index 1011c99..a541578 100644
--- a/src/interface_implementations/eth_helicopter.jl
+++ b/src/interface_implementations/eth_helicopter.jl
@@ -4,11 +4,13 @@ export ETHHelicopter, ETHHelicopterSimulator, ETHHelicopterType
struct ETHHelicopter <: PhysicalProcess
h::Float64
+ bias::Float64
end
ETHHelicopter() = ETHHelicopter(0.050)
struct ETHHelicopterSimulator <: SimulatedProcess
h::Float64
+ bias::Float64
state::Vector{Float64}
end
ETHHelicopterSimulator() = ETHHelicopterSimulator(0.01, zeros(4))
@@ -21,6 +23,8 @@ inputrange(p::ETHHelicopterType) = [(-10,10)]
isstable(p::ETHHelicopterType) = false
isasstable(p::ETHHelicopterType) = false
sampletime(p::ETHHelicopterType) = p.h
+bias(p::ETHHelicopterType) = p.bias
+
function control(p::ETHHelicopter, u)
ccall((:comedi_write, comedipath),Int32,(Int32,Int32,Int32,Int32), 0,1,0,num2io(u[1]))
--
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