diff options
Diffstat (limited to 'js/Linear/PID.js')
| -rw-r--r-- | js/Linear/PID.js | 32 |
1 files changed, 16 insertions, 16 deletions
diff --git a/js/Linear/PID.js b/js/Linear/PID.js index f4822015..34d08bd4 100644 --- a/js/Linear/PID.js +++ b/js/Linear/PID.js @@ -2,27 +2,27 @@ function PID() { PID.prototype.define = function PID() { scs_m=scicos_diagram(version="scicos4.2",props=scicos_params(wpar=[600,450,0,0,600,450],Title=["PID"],tol=[0.0001,0.000001,1.000e-10,100001,0,0],tf=100000,context=" ",void1=[],options=tlist(["scsopt","3D","Background","Link","ID","Cmap"],list(true,33),[8,1],[1,5],list([5,1],[4,1]),[0.8,0.8,0.8]),void2=[],void3=[],doc=list())); -scs_m.objs[1-1]=scicos_block(gui="INTEGRAL_m",graphics=scicos_graphics(orig=[318.304,183.11733],sz=[40,40],flip=true,theta=0,exprs=["0","0","0","1","-1"],pin=7,pout=9,pein=[],peout=[],gr_i=[],id="1/s",in_implicit="E",out_implicit="E"),model=scicos_model(sim=list("integral_func",4),in1=1,in2=1,intyp=1,out=1,out2=1,outtyp=1,evtin=[],evtout=[],state=0,dstate=[],odstate=list(),rpar=[],ipar=[],opar=list(),blocktype="c",firing=[],dep_ut=[false,true],label="",nzcross=0,nmode=0,equations=list()),doc=list()); -scs_m.objs[2-1]=scicos_block(gui="SUMMATION",graphics=scicos_graphics(orig=[387.97067,172.85067],sz=[40,60],flip=true,theta=0,exprs=["1","[1;1;1]"],pin=[10,9,11],pout=19,pein=[],peout=[],gr_i=[],id="",in_implicit=["E","E","E"],out_implicit="E"),model=scicos_model(sim=list("summation",4),in1=[-1,-1,-1],in2=[-2,-2,-2],intyp=[1,1,1],out=-1,out2=-2,outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=[],ipar=[1,1,1],opar=list(),blocktype="c",firing=[],dep_ut=[true,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); +scs_m.objs[1-1]=scicos_block(gui="INTEGRAL_m",graphics=scicos_graphics(orig=[318.304,183.11733],sz=[40,40],flip=true,theta=0,exprs=[["0"],["0"],["0"],["1"],["-1"]],pin=7,pout=9,pein=[],peout=[],gr_i=[],id="1/s",in_implicit="E",out_implicit="E"),model=scicos_model(sim=list("integral_func",4),in1=1,in2=1,intyp=1,out=1,out2=1,outtyp=1,evtin=[],evtout=[],state=0,dstate=[],odstate=list(),rpar=[],ipar=[],opar=list(),blocktype="c",firing=[],dep_ut=[false,true],label="",nzcross=0,nmode=0,equations=list()),doc=list()); +scs_m.objs[2-1]=scicos_block(gui="SUMMATION",graphics=scicos_graphics(orig=[387.97067,172.85067],sz=[40,60],flip=true,theta=0,exprs=[["1"],["[1;1;1]"]],pin=[[10],[9],[11]],pout=19,pein=[],peout=[],gr_i=[],id="",in_implicit=[["E"],["E"],["E"]],out_implicit="E"),model=scicos_model(sim=list("summation",4),in1=[[-1],[-1],[-1]],in2=[[-2],[-2],[-2]],intyp=[[1],[1],[1]],out=-1,out2=-2,outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=[],ipar=[[1],[1],[1]],opar=list(),blocktype="c",firing=[],dep_ut=[true,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); scs_m.objs[3-1]=scicos_block(gui="GAINBLK",graphics=scicos_graphics(orig=[321.23733,235.91733],sz=[40,40],flip=true,theta=0,exprs="1",pin=17,pout=10,pein=[],peout=[],gr_i=[],id="",in_implicit="E",out_implicit="E"),model=scicos_model(sim=list("gainblk",4),in1=-1,in2=-2,intyp=1,out=-1,out2=-2,outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=1,ipar=[],opar=list(),blocktype="c",firing=[],dep_ut=[true,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); scs_m.objs[4-1]=scicos_block(gui="DERIV",graphics=scicos_graphics(orig=[319.03733,135.45067],sz=[40,40],flip=true,theta=0,exprs=[],pin=8,pout=11,pein=[],peout=[],gr_i=[],id="s",in_implicit="E",out_implicit="E"),model=scicos_model(sim=list("deriv",4),in1=-1,in2=-2,intyp=1,out=-1,out2=-2,outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=[],ipar=[],opar=list(),blocktype="x",firing=[],dep_ut=[true,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); scs_m.objs[5-1]=scicos_block(gui="GAINBLK",graphics=scicos_graphics(orig=[255.23733,183.11733],sz=[40,40],flip=true,theta=0,exprs="1",pin=13,pout=7,pein=[],peout=[],gr_i=[],id="",in_implicit="E",out_implicit="E"),model=scicos_model(sim=list("gainblk",4),in1=-1,in2=-2,intyp=1,out=-1,out2=-2,outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=1,ipar=[],opar=list(),blocktype="c",firing=[],dep_ut=[true,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); scs_m.objs[6-1]=scicos_block(gui="GAINBLK",graphics=scicos_graphics(orig=[255.23733,135.45067],sz=[40,40],flip=true,theta=0,exprs="1",pin=14,pout=8,pein=[],peout=[],gr_i=[],id="",in_implicit="E",out_implicit="E"),model=scicos_model(sim=list("gainblk",4),in1=-1,in2=-2,intyp=1,out=-1,out2=-2,outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=1,ipar=[],opar=list(),blocktype="c",firing=[],dep_ut=[true,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); -scs_m.objs[7-1]=scicos_link(xx=[303.80876,309.73257],yy=[203.11733,203.11733],id="drawlink",thick=[0,0],ct=[1,1],from=[5,1,0],to=[1,1,1]); -scs_m.objs[8-1]=scicos_link(xx=[303.80876,310.4659],yy=[155.45067,155.45067],id="drawlink",thick=[0,0],ct=[1,1],from=[6,1,0],to=[4,1,1]); -scs_m.objs[9-1]=scicos_link(xx=[366.87543,379.39924],yy=[203.11733,202.85067],id="drawlink",thick=[0,0],ct=[1,1],from=[1,1,0],to=[2,2,1]); -scs_m.objs[10-1]=scicos_link(xx=[369.80876,379.39924,379.39924],yy=[255.91733,255.91733,217.85067],id="drawlink",thick=[0,0],ct=[1,1],from=[3,1,0],to=[2,1,1]); -scs_m.objs[11-1]=scicos_link(xx=[367.60876,379.39924,379.39924],yy=[155.45067,155.45067,187.85067],id="drawlink",thick=[0,0],ct=[1,1],from=[4,1,0],to=[2,3,1]); -scs_m.objs[12-1]=scicos_block(gui="SPLIT_f",graphics=scicos_graphics(orig=[234.704,203.11733],sz=[0.3333333,0.3333333],flip=true,theta=0,exprs=[],pin=16,pout=[13,14],pein=[],peout=[],gr_i=[],id="",in_implicit="E",out_implicit=["E","E","E"]),model=scicos_model(sim="lsplit",in1=-1,in2=[],intyp=1,out=[-1,-1,-1],out2=[],outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=[],ipar=[],opar=list(),blocktype="c",firing=[],dep_ut=[true,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); -scs_m.objs[13-1]=scicos_link(xx=[234.704,246.6659],yy=[203.11733,203.11733],id="drawlink",thick=[0,0],ct=[1,1],from=[12,1,0],to=[5,1,1]); -scs_m.objs[14-1]=scicos_link(xx=[234.704,234.704,246.6659],yy=[203.11733,155.45067,155.45067],id="drawlink",thick=[0,0],ct=[1,1],from=[12,2,0],to=[6,1,1]); -scs_m.objs[15-1]=scicos_block(gui="SPLIT_f",graphics=scicos_graphics(orig=[233.97067,203.11733],sz=[0.3333333,0.3333333],flip=true,theta=0,exprs=[],pin=21,pout=[16,17],pein=[],peout=[],gr_i=[],id="",in_implicit="E",out_implicit=["E","E","E"]),model=scicos_model(sim="lsplit",in1=-1,in2=[],intyp=1,out=[-1,-1,-1],out2=[],outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=[],ipar=[],opar=list(),blocktype="c",firing=[],dep_ut=[true,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); -scs_m.objs[16-1]=scicos_link(xx=[233.97067,234.704],yy=[203.11733,203.11733],id="drawlink",thick=[0,0],ct=[1,1],from=[15,1,0],to=[12,1,1]); -scs_m.objs[17-1]=scicos_link(xx=[233.97067,233.97067,312.6659],yy=[203.11733,255.91733,255.91733],id="drawlink",thick=[0,0],ct=[1,1],from=[15,2,0],to=[3,1,1]); +scs_m.objs[7-1]=scicos_link(xx=[[303.80876],[309.73257]],yy=[[203.11733],[203.11733]],id="drawlink",thick=[0,0],ct=[1,1],from=[5,1,0],to=[1,1,1]); +scs_m.objs[8-1]=scicos_link(xx=[[303.80876],[310.4659]],yy=[[155.45067],[155.45067]],id="drawlink",thick=[0,0],ct=[1,1],from=[6,1,0],to=[4,1,1]); +scs_m.objs[9-1]=scicos_link(xx=[[366.87543],[379.39924]],yy=[[203.11733],[202.85067]],id="drawlink",thick=[0,0],ct=[1,1],from=[1,1,0],to=[2,2,1]); +scs_m.objs[10-1]=scicos_link(xx=[[369.80876],[379.39924],[379.39924]],yy=[[255.91733],[255.91733],[217.85067]],id="drawlink",thick=[0,0],ct=[1,1],from=[3,1,0],to=[2,1,1]); +scs_m.objs[11-1]=scicos_link(xx=[[367.60876],[379.39924],[379.39924]],yy=[[155.45067],[155.45067],[187.85067]],id="drawlink",thick=[0,0],ct=[1,1],from=[4,1,0],to=[2,3,1]); +scs_m.objs[12-1]=scicos_block(gui="SPLIT_f",graphics=scicos_graphics(orig=[[234.704],[203.11733]],sz=[0.3333333,0.3333333],flip=true,theta=0,exprs=[],pin=16,pout=[[13],[14]],pein=[],peout=[],gr_i=[],id="",in_implicit="E",out_implicit=[["E"],["E"],["E"]]),model=scicos_model(sim="lsplit",in1=-1,in2=[],intyp=1,out=[[-1],[-1],[-1]],out2=[],outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=[],ipar=[],opar=list(),blocktype="c",firing=[],dep_ut=[true,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); +scs_m.objs[13-1]=scicos_link(xx=[[234.704],[246.6659]],yy=[[203.11733],[203.11733]],id="drawlink",thick=[0,0],ct=[1,1],from=[12,1,0],to=[5,1,1]); +scs_m.objs[14-1]=scicos_link(xx=[[234.704],[234.704],[246.6659]],yy=[[203.11733],[155.45067],[155.45067]],id="drawlink",thick=[0,0],ct=[1,1],from=[12,2,0],to=[6,1,1]); +scs_m.objs[15-1]=scicos_block(gui="SPLIT_f",graphics=scicos_graphics(orig=[[233.97067],[203.11733]],sz=[0.3333333,0.3333333],flip=true,theta=0,exprs=[],pin=21,pout=[[16],[17]],pein=[],peout=[],gr_i=[],id="",in_implicit="E",out_implicit=[["E"],["E"],["E"]]),model=scicos_model(sim="lsplit",in1=-1,in2=[],intyp=1,out=[[-1],[-1],[-1]],out2=[],outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=[],ipar=[],opar=list(),blocktype="c",firing=[],dep_ut=[true,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); +scs_m.objs[16-1]=scicos_link(xx=[[233.97067],[234.704]],yy=[[203.11733],[203.11733]],id="drawlink",thick=[0,0],ct=[1,1],from=[15,1,0],to=[12,1,1]); +scs_m.objs[17-1]=scicos_link(xx=[[233.97067],[233.97067],[312.6659]],yy=[[203.11733],[255.91733],[255.91733]],id="drawlink",thick=[0,0],ct=[1,1],from=[15,2,0],to=[3,1,1]); scs_m.objs[18-1]=scicos_block(gui="OUT_f",graphics=scicos_graphics(orig=[456.5421,192.85067],sz=[20,20],flip=true,theta=0,exprs="1",pin=19,pout=[],pein=[],peout=[],gr_i=[],id="",in_implicit="E",out_implicit=[]),model=scicos_model(sim="output",in1=-1,in2=[],intyp=-1,out=[],out2=[],outtyp=1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=[],ipar=1,opar=list(),blocktype="c",firing=[],dep_ut=[false,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); -scs_m.objs[19-1]=scicos_link(xx=[436.5421,456.5421],yy=[202.85067,202.85067],id="drawlink",thick=[0,0],ct=[1,1],from=[2,1,0],to=[18,1,1]); +scs_m.objs[19-1]=scicos_link(xx=[[436.5421],[456.5421]],yy=[[202.85067],[202.85067]],id="drawlink",thick=[0,0],ct=[1,1],from=[2,1,0],to=[18,1,1]); scs_m.objs[20-1]=scicos_block(gui="IN_f",graphics=scicos_graphics(orig=[193.97067,193.11733],sz=[20,20],flip=true,theta=0,exprs="1",pin=[],pout=21,pein=[],peout=[],gr_i=[],id="",in_implicit=[],out_implicit="E"),model=scicos_model(sim="input",in1=[],in2=[],intyp=1,out=-1,out2=[],outtyp=-1,evtin=[],evtout=[],state=[],dstate=[],odstate=list(),rpar=[],ipar=1,opar=list(),blocktype="c",firing=[],dep_ut=[false,false],label="",nzcross=0,nmode=0,equations=list()),doc=list()); -scs_m.objs[21-1]=scicos_link(xx=[213.97067,233.97067],yy=[203.11733,203.11733],id="drawlink",thick=[0,0],ct=[1,1],from=[20,1,0],to=[15,1,1]); +scs_m.objs[21-1]=scicos_link(xx=[[213.97067],[233.97067]],yy=[[203.11733],[203.11733]],id="drawlink",thick=[0,0],ct=[1,1],from=[20,1,0],to=[15,1,1]); model=scicos_model(); model.sim="csuper"; model.in1=-1; @@ -85,7 +85,7 @@ exprs[3-1]=xx3.graphics.exprs(1); d_old=xx3.model.rpar; y=0; while (true) { -[ok,p,i,d,exprs0]=scicos_getvalue("Set PID parameters",["Proportional","Integral","Derivation"],list("vec",-1,"vec",-1,"vec",-1),exprs); +[ok,p,i,d,exprs0]=scicos_getvalue("Set PID parameters",[["Proportional"],["Integral"],["Derivation"]],list("vec",-1,"vec",-1,"vec",-1),exprs); if (!ok) { break; } |