RegulatorProcess.java

package mods.eln.sim;

import mods.eln.item.regulator.IRegulatorDescriptor.RegulatorType;
import mods.eln.misc.INBTTReady;
import net.minecraft.nbt.NBTTagCompound;

public abstract class RegulatorProcess implements IProcess, INBTTReady {

    RegulatorType type = RegulatorType.None;
    double target;
    double OnOffHysteresisDiv2;
    double P, I, D;
    double hitLast = 0, errorIntegrated = 0;
    boolean boot = true;
    String name;

    public void setManual() {
        type = RegulatorType.Manual;
    }

    public void setNone() {
        type = RegulatorType.None;
    }

    public void setOnOff(double OnOffHysteresisFactor, double workingPoint) {
        type = RegulatorType.OnOff;
        this.OnOffHysteresisDiv2 = OnOffHysteresisFactor * workingPoint / 2;
        boot = false;
        setCmd(0.0);
    }

    public void setAnalog(double P, double I, double D, double workingPoint) {
        P /= workingPoint;
        I /= workingPoint;
        D /= workingPoint;

        if (!boot && (this.P != P || this.I != I || this.D != D || type != RegulatorType.Analog)) {
            errorIntegrated = 0;
            hitLast = getHit();
        }

        this.P = P;
        this.I = I;
        this.D = D;

        type = RegulatorType.Analog;
        boot = false;
    }

    public void setTarget(double target) {
        this.target = target;
    }

    public double getTarget() {
        return target;
    }

    protected abstract double getHit();

    protected abstract void setCmd(double cmd);

    public RegulatorProcess(String name) {
        this.name = name;
    }

    @Override
    public void process(double time) {
        double hit = getHit();

        switch (type) {
            case Manual:
                break;
            case None:
                setCmd(1.0);
                break;
            case Analog:
                double error = target - hit;
                double fP = error * P;
                double cmd = fP - (hit - hitLast) * D * time;

                errorIntegrated += error * time * I;

                if (errorIntegrated > 1.0 - fP) {
                    errorIntegrated = 1.0 - fP;
                    if (errorIntegrated < 0.0) errorIntegrated = 0.0;
                } else if (errorIntegrated < (-1.0 + fP)) {
                    errorIntegrated = (-1.0 + fP);
                    if (errorIntegrated > 0.0) errorIntegrated = 0.0;
                }

                cmd += errorIntegrated;

                if (cmd > 1.0) setCmd(1.0);
                else if (cmd < -1.0) setCmd(-1.0);
                else setCmd(cmd);

                hitLast = hit;
                break;

            case OnOff:
                if (hit > target + OnOffHysteresisDiv2) setCmd(0.0);
                if (hit < target - OnOffHysteresisDiv2) setCmd(1.0);
                break;

            default:
                break;
        }
    }

    @Override
    public void readFromNBT(NBTTagCompound nbt, String str) {
        errorIntegrated = nbt.getDouble(str + name + "errorIntegrated");
        if (Double.isNaN(errorIntegrated)) errorIntegrated = 0;
        setTarget(nbt.getDouble(str + name + "target"));
    }

    @Override
    public void writeToNBT(NBTTagCompound nbt, String str) {
        nbt.setDouble(str + name + "errorIntegrated", errorIntegrated);
        nbt.setDouble(str + name + "target", target);
    }
}