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Fix: Corrected velocity measurement in CascadeController #36

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Fix: Corrected velocity measurement in CascadeController #36

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22 changes: 12 additions & 10 deletions core/src/main/java/com/seattlesolvers/solverslib/controller/CascadeController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ public class CascadeController extends Controller {
private final Controller primary;
private final Controller secondary;
private double velMeasuredValue;
private double prevMeasuredValue;
private double velSetPoint;

public CascadeController(Controller primary, Controller secondary) {
Expand All @@ -14,24 +15,21 @@ public CascadeController(Controller primary, Controller secondary) {
@Override
protected double calculateOutput(double pv) {
prevErrorVal = errorVal_p;
prevMeasuredValue = measuredValue;

double currentTimeStamp = (double) System.nanoTime() / 1E9;
if (lastTimeStamp == 0) lastTimeStamp = currentTimeStamp;
period = currentTimeStamp - lastTimeStamp;
lastTimeStamp = currentTimeStamp;

if (measuredValue == pv) {
errorVal_p = setPoint - measuredValue;
} else {
errorVal_p = setPoint - pv;
if (measuredValue != pv) {
measuredValue = pv;
}
errorVal_p = setPoint - measuredValue;

if (Math.abs(period) > 1E-6) {
velMeasuredValue = (errorVal_p - prevErrorVal) / period;
} else {
velMeasuredValue = 0;
}
velMeasuredValue = (measuredValue - prevMeasuredValue) / period;
lastTimeStamp = currentTimeStamp;
}
Comment on lines 20 to +32

errorVal_v = velSetPoint - velMeasuredValue;

Expand All @@ -50,7 +48,11 @@ public void setSetPoints(double psp, double vsp) {
setPoint = psp;
velSetPoint = vsp;
errorVal_p = setPoint - measuredValue;
velMeasuredValue = (errorVal_p - prevErrorVal) / period;
velMeasuredValue = (measuredValue - prevMeasuredValue) / period;
errorVal_v = velSetPoint - velMeasuredValue;
Comment on lines 48 to 52
}

public double getMeasuredVel() {
return velMeasuredValue;
}
Comment on lines +55 to +57
}
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