c062a8db19
Allow multiple actuators to use the same PID plugin.
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Maintain separate state for each actuator in the Plugin object.
PiperOrigin-RevId: 587760569
Change-Id: I633a1b94f0dde9377120145066a26aef6a4033b8
2023-12-04 10:08:07 -08:00
236dcb4ffd
Fix a bug with PID actuators, when plugin definition order differs from actuator order.
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PiperOrigin-RevId: 587729879
Change-Id: If71c7e374f36ef08c5147e7316066d6f5365925f
2023-12-04 08:31:45 -08:00
6412c95a37
Remove the use of plugin_state from PID plugin.
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The plugin was storing a boolean to indicate whether the previous ctrl value was set in `act`. Use d->time == 0 instead.
PiperOrigin-RevId: 585692686
Change-Id: I95335cebdb5716bd6fad81f463a4f248406c80ec
2023-11-27 10:32:07 -08:00
002b427a32
PID Controller as an actuator plugin.
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Implement a configurable PID controller.
PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
2023-11-25 08:41:01 -08:00
Nimrod Gileadi