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path: root/Software/Visual_Studio/MachineStudio/Tango.MachineStudio.Common/Diagnostics/IDiagnosticsFrameProvider.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Tango.Integration.Operation;
using Tango.PMR.Diagnostics;

namespace Tango.MachineStudio.Common.Diagnostics
{
    /// <summary>
    /// Represents a tango machine diagnostics frame provider.
    /// </summary>
    public interface IDiagnosticsFrameProvider
    {
        /// <summary>
        /// Occurs when a new data frame is available.
        /// </summary>
        event EventHandler<StartDiagnosticsResponse> FrameReceived;

        /// <summary>
        /// Gets the current diagnostics frame rate.
        /// </summary>
        double FrameRate { get; }

        /// <summary>
        /// Disables the frame delivery from the current connected machine and enables the manual push frame method.
        /// </summary>
        bool Disable { get; set; }

        /// <summary>
        /// Push frames manual. (Only when Disable = true)
        /// </summary>
        /// <param name="frame">The frame.</param>
        void PushFrame(StartDiagnosticsResponse frame);
    }
}
="p">{ *_integral = *_integral + error*params->dt; } derivative = (error - *_pre_error)/params->dt; output = params->Kp*error + params->Ki**_integral + params->Kd*derivative; //Saturation Filter if(output > params->MAX) { output = params->MAX; } else if(output < params->MIN) { output = params->MIN; } //Update error *_pre_error = error; return output; } float AdvancedPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral) { float error; float derivative; float output; //Calculate P,I,D error = _setPoint - _mesuredParam; //In case of error too small then stop integration if(fabs(error) > params->epsilon) { *_integral = *_integral + error*params->dt; } derivative = (error - *_pre_error)/params->dt; output = params->Kp*error/params->ProportionalErrorMultiplier + params->Ki**_integral/params->IntegralErrorMultiplier + params->Kd*derivative; //Saturation Filter if(output > params->MAX) { output = params->MAX; } else if(output < params->MIN) { output = params->MIN; } //Update error *_pre_error = error; return output; } float TestPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral) { float error; float derivative; float output; //double error = *mySetpoint - input; error = _setPoint - _mesuredParam; //ITerm+= (ki * error); *_integral = *_integral + (error*params->Ki); /* if(ITerm > outMax) { ITerm= outMax; } else if(ITerm < outMin) { ITerm= outMin; } */ if(*_integral > params->MAX) { *_integral = params->MAX; } else if(*_integral < params->MIN) { *_integral = params->MIN; } // double dInput = (input - lastInput); derivative = error - *_pre_error; /*Compute PID Output*/ // double output = kp * error + ITerm- kd * dInput; output = params->Kp*error/params->ProportionalErrorMultiplier + *_integral/params->IntegralErrorMultiplier + params->Kd*derivative; //Saturation Filter if(output > params->MAX) { output = params->MAX; } else if(output < params->MIN) { output = params->MIN; } //Update error *_pre_error = error; return output; }