[controller] add sample_time parameter for create function

Author: sogwms

controller/controller.c

@@ -6,7 +6,7 @@
 
 // single intput and single output system
 
-controller_t controller_create(rt_size_t size)
+controller_t controller_create(rt_size_t size, rt_uint16_t sample_time)
 {
     // TODO
     // Malloc memory and initialize PID
@@ -17,6 +17,7 @@ controller_t controller_create(rt_size_t size)
         return RT_NULL;
     }
 
+    new_controller->sample_time = sample_time;
     new_controller->enable = RT_FALSE;
 
     return new_controller;

controller/controller.h

@@ -17,7 +17,7 @@ struct controller
 
 typedef struct controller *controller_t;
 
-controller_t    controller_create(rt_size_t size);
+controller_t    controller_create(rt_size_t size, rt_uint16_t sample_time);
 rt_err_t        controller_update(controller_t controller, float current_point);
 rt_err_t        controller_destroy(controller_t controller);
 rt_err_t        controller_enable(controller_t controller);

controller/inc_pid_controller.c

@@ -60,9 +60,9 @@ static rt_err_t inc_pid_controller_update(void *pid, float current_point)
     return RT_EOK;
 }
 
-inc_pid_controller_t inc_pid_controller_create(float kp, float ki, float kd)
+inc_pid_controller_t inc_pid_controller_create(float kp, float ki, float kd, rt_uint16_t sample_time)
 {
-    inc_pid_controller_t new_pid = (inc_pid_controller_t)controller_create(sizeof(struct inc_pid_controller));
+    inc_pid_controller_t new_pid = (inc_pid_controller_t)controller_create(sizeof(struct inc_pid_controller), sample_time);
     if(new_pid == RT_NULL)
     {
         return RT_NULL;

controller/inc_pid_controller.h

@@ -29,7 +29,7 @@ struct inc_pid_controller
     rt_tick_t last_time;
 };
 
-inc_pid_controller_t    inc_pid_controller_create(float kp, float ki, float kd);
+inc_pid_controller_t    inc_pid_controller_create(float kp, float ki, float kd, rt_uint16_t sample_time);
 rt_err_t                inc_pid_controller_set_kp(inc_pid_controller_t pid, float kp);
 rt_err_t                inc_pid_controller_set_ki(inc_pid_controller_t pid, float ki);
 rt_err_t                inc_pid_controller_set_kd(inc_pid_controller_t pid, float kd);

controller/pos_pid_controller.c

@@ -68,9 +68,9 @@ static rt_err_t pos_pid_controller_update(void *pid, float current_point)
     return RT_EOK;
 }
 
-pos_pid_controller_t pos_pid_controller_create(float kp, float ki, float kd)
+pos_pid_controller_t pos_pid_controller_create(float kp, float ki, float kd, rt_uint16_t sample_time)
 {
-    pos_pid_controller_t new_pid = (pos_pid_controller_t)controller_create(sizeof(struct pos_pid_controller));
+    pos_pid_controller_t new_pid = (pos_pid_controller_t)controller_create(sizeof(struct pos_pid_controller), sample_time);
     if(new_pid == RT_NULL)
     {
         return RT_NULL;
@@ -82,7 +82,7 @@ pos_pid_controller_t pos_pid_controller_create(float kp, float ki, float kd)
 
     new_pid->maximum = +1000;
     new_pid->minimum = -1000;
-    new_pid->anti_windup_value = 0.0f;
+    new_pid->anti_windup_value = new_pid->maximum*2.0f;
 
     new_pid->integral = 0.0f;
     new_pid->p_error = 0.0f;

controller/pos_pid_controller.h

@@ -30,7 +30,7 @@ struct pos_pid_controller
     rt_tick_t last_time;
 };
 
-pos_pid_controller_t    pos_pid_controller_create(float kp, float ki, float kd);
+pos_pid_controller_t    pos_pid_controller_create(float kp, float ki, float kd, rt_uint16_t sample_time);
 rt_err_t                pos_pid_controller_set_kp(pos_pid_controller_t pid, float kp);
 rt_err_t                pos_pid_controller_set_ki(pos_pid_controller_t pid, float ki);
 rt_err_t                pos_pid_controller_set_kd(pos_pid_controller_t pid, float kd);