ArthurErlich
50e6f8b509
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Coding Quality / Build and analyze (pull_request) Successful in 2m10s
116 lines
3.5 KiB
GDScript
116 lines
3.5 KiB
GDScript
extends Node3D
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var p: float = 0.4
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var i: float = 0.0
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var d: float = 1
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var force: float = 200.0
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var error: float = 0.0
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var last_error = 0.0
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var error_derivative: float = 0.0
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var integral: float = 0.0
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var target: float = 0.0 #0.0 -> 359.99
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var p_input: SpinBox
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var i_input: SpinBox
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var d_input: SpinBox
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var force_input: SpinBox
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var target_input: SpinBox
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var spinner_node: Node3D
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var target_node: Node3D
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var error_lable: Label
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var speed_lable: Label
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var acceleration_label: Label
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var error_derivative_lable: Label
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var integral_lable: Label
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var spinner_speed: float = 0.0
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var max_speed: float = 120 # deg/m -> 1/360/60s = 1rpm
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var acceleration: float
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func _ready() -> void:
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spinner_node = get_node("Spinner")
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target_node = get_node("Target")
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p_input = get_node("PID Menue/PanelContainer/VBoxContainer/Proportinal Term (P)/Input")
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p_input.value_changed.connect(_update_p_value)
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i_input = get_node("PID Menue/PanelContainer/VBoxContainer/Integral (I)/Input")
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i_input.value_changed.connect(_update_i_value)
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d_input = get_node("PID Menue/PanelContainer/VBoxContainer/Derivative (D)/Input")
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d_input.value_changed.connect(_update_d_value)
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force_input = get_node("PID Menue/PanelContainer/VBoxContainer/Force/Input")
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force_input.value_changed.connect(_update_force_value)
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target_input = get_node("PID Menue/PanelContainer/VBoxContainer/Target Rotation/Input")
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target_input.value_changed.connect(_update_target_rot)
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error_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Error/Output")
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speed_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Speed/Output")
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error_derivative_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Error Derivative/Output")
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acceleration_label = get_node("PID Menue/PanelContainer/VBoxContainer/Acceleration/Output")
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integral_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Integral/Output")
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# Set default values
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p_input.value = p
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i_input.value = i
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d_input.value = d
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force_input.value = force
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func _update_target_rot(value: float) -> void:
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target_node.rotation.x = deg_to_rad(value)
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func _update_p_value(value: float) -> void:
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p = value
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func _update_i_value(value: float) -> void:
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i = value
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func _update_d_value(value: float) -> void:
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d = value
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func _update_force_value(value: float) -> void:
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force = value
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func _process(delta: float) -> void:
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# PID Stuff
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target = rad_to_deg(target_node.rotation.x)
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error = target - rad_to_deg(spinner_node.rotation.x)
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error_derivative = (error - last_error) / delta
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integral += error * delta
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# Clamp acceleration between min and max force
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var pid_output := (p * error) + (i * integral) + (d * error_derivative)
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acceleration = clampf(pid_output, -force, force)
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# Set speed
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var next_speed = spinner_speed + acceleration * delta
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# Block acceleration that would exceed max speed
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if abs(spinner_speed) >= max_speed and sign(acceleration) == sign(spinner_speed):
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acceleration = 0.0
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next_speed = spinner_speed
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spinner_speed = clamp(next_speed, -max_speed, max_speed)
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spinner_node.rotation_degrees.x += spinner_speed * delta
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last_error = error
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func _physics_process(delta: float) -> void:
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#UI Updats
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error_lable.text = str(error).pad_decimals(2).pad_zeros(3) + " deg"
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error_derivative_lable.text = str(error_derivative).pad_decimals(2).pad_zeros(3)
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integral_lable.text = str(integral).pad_decimals(2).pad_zeros(3)
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speed_lable.text = str(spinner_speed).pad_decimals(2).pad_zeros(3) + " deg/m"
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acceleration_label.text = str(acceleration / force * 100).pad_decimals(2).pad_zeros(3) + " %"
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