varch/test/test_pid.c

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#if defined(TEST_TARGET_pid)
#include <varch/command.h>
#include <varch/pid.h>
#else  
#include "init.h"
#include "command.h"
#include "pid.h"
#endif

static void test_sim(void)
{
    PIDC pid;

    pid_init(&pid);

    pid.kp = 2;
    pid.ki = 0.1;
    pid.kd = 0.05;

    pid.point = 100.0;

    /* Simulate the process, assuming that the value of each cycle process increases by 5 */
    for (int i = 0; i < 20; i++) 
    {
        pid.process += 5;
        pid_compute(&pid);

        printf("Process Value: %.2f, PID Output: %.2f\n", pid.process, pid.output);
    }
}

static void usage(void)
{
    printf(
"Usage: pid [opt] [arg]\n"
"\n"
"options:\n"
"    -h                  Print help\n"
"    -v                  Print version\n"
"\n"
"argument:\n"
"    <read>              Test default read function\n"
"    <write>             Test default write function\n"
    );
}

static int test(int argc, char *argv[])
{
    /* reset getopt */
    command_opt_init();

    while (1)
    {
        int opt = command_getopt(argc, argv, "hv");
        if (opt == -1) break;

        switch (opt) 
        {
        case 'v' :
            printf("pid version %d.%d.%d\r\n", PID_V_MAJOR, PID_V_MINOR, PID_V_PATCH);
            return 0;
        case '?':
            printf("Unknown option `%c`\r\n", command_optopt);
            return -1;
        case 'h' : 
        default:
            usage();
            return 0;
        }
    }

    test_sim();
    
    return 0;
}

#if defined(TEST_TARGET_pid)
int main(int argc, char *argv[])
{
    return test(argc, argv);
}
#else 
void test_pid(void)
{
    command_export("pid", test);
}
init_export_app(test_pid);
#endif