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extern crate rand;
use self::rand::distributions::Alphanumeric;
use self::rand::Rng;
use crate::constants;
use crate::modules::types::ModuleType;
use std::iter::repeat;
pub fn rand_name() -> String {
repeat(())
.map(|()| rand::thread_rng().sample(Alphanumeric))
.take(8)
.collect()
}
#[derive(Serialize, Deserialize, Debug, Clone, Default)]
pub struct ControlSystem {
previous_error: f64,
integral: f64,
kp: f64,
ki: f64,
kd: f64,
dt: f64,
}
impl ControlSystem {
pub fn new(module: ModuleType) -> ControlSystem {
let previous_error = 0.0;
let integral = 0.0;
match module {
ModuleType::Tractorbeam => ControlSystem {
kp: constants::SHIP_TRACTORBEAM_CONTROLSYSTEM_KP,
ki: constants::SHIP_TRACTORBEAM_CONTROLSYSTEM_KI,
kd: constants::SHIP_TRACTORBEAM_CONTROLSYSTEM_KD,
dt: constants::SHIP_TRACTORBEAM_CONTROLSYSTEM_DT,
previous_error,
integral,
},
_ => ControlSystem {
kp: 1.0,
ki: 1.0,
kd: 1.0,
dt: 1.0,
previous_error,
integral,
},
}
}
pub fn compute(&mut self, strength: f64, distance: f64, desired_distance: f64) -> f64 {
let error = desired_distance - distance;
self.integral += error * self.dt;
let derivative = (error - self.previous_error) / self.dt;
let output = self.kp * error + self.ki * self.integral + self.kd * derivative;
self.previous_error = error;
if output.abs() > strength {
if output.is_sign_positive() {
strength
} else {
strength * -1.0
}
} else {
output
}
}
}
#[derive(Serialize, Deserialize, Debug, Clone, Default, PartialEq)]
pub struct Vector {
pub x: f64,
pub y: f64,
pub z: f64,
}
impl Vector {
pub fn new(x: f64, y: f64, z: f64) -> Vector {
Vector { x, y, z }
}
pub fn distance_from(&self, other: Vector) -> f64 {
((self.x - other.x).powf(2.0) + (self.y - other.y).powf(2.0) + (self.z - other.z).powf(2.0))
.sqrt()
}
pub fn unitize(&self) -> Vector {
let denominator = self.magnitude();
Vector {
x: self.x / denominator,
y: self.y / denominator,
z: self.z / denominator,
}
}
pub fn magnitude(&self) -> f64 {
(self.x.powf(2.0) + self.y.powf(2.0) + self.z.powf(2.0)).sqrt()
}
}
impl std::fmt::Display for Vector {
fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
write!(f, "({:.2}, {:.2}, {:.2})", self.x, self.y, self.z)
}
}
impl std::ops::Add for Vector {
type Output = Vector;
fn add(self, other: Vector) -> Vector {
Vector {
x: self.x + other.x,
y: self.y + other.y,
z: self.z + other.z,
}
}
}
impl std::ops::Sub for Vector {
type Output = Vector;
fn sub(self, other: Vector) -> Vector {
Vector {
x: self.x - other.x,
y: self.y - other.y,
z: self.z - other.z,
}
}
}
impl std::ops::Mul<f64> for Vector {
type Output = Vector;
fn mul(self, other: f64) -> Vector {
Vector {
x: self.x * other,
y: self.y * other,
z: self.z * other,
}
}
}
impl std::ops::AddAssign for Vector {
fn add_assign(&mut self, other: Vector) {
*self = Vector {
x: self.x + other.x,
y: self.y + other.y,
z: self.z + other.z,
}
}
}
|
