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/* autogenerated from "macros/Linear/PID.sci" */
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[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[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[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]);
this.model = scicos_model();
this.model.sim = new ScilabString("csuper");
this.model.in1 = new ScilabDouble(-1);
this.model.in2 = new ScilabDouble(-2);
this.model.out = new ScilabDouble(-1);
this.model.out2 = new ScilabDouble(-2);
this.model.intyp = new ScilabDouble(1);
this.model.outtyp = new ScilabDouble(1);
this.model.blocktype = new ScilabString("h");
this.model.firing = new ScilabBoolean(false);
this.model.dep_ut = [false,false];
this.model.rpar = new ScilabDouble(scs_m);
gr_i = [];
this.x = standard_define([2,2],this.model,[],gr_i);
return new BasicBlock(this.x);
}
PID.prototype.details = function PID() {
return this.x;
}
PID.prototype.get = function PID() {
var options = {
p:["Proportional",this.p],
i:["Integral",this.i],
d:["Derivation",this.d],
}
return options;
}
PID.prototype.set = function PID() {
this.p = arguments[0]["p"]
this.i = arguments[0]["i"]
this.d = arguments[0]["d"]
this.exprs0 = arguments[0]["exprs0"]
ppath = list(0,0,0);
for (i=1;i<=length(arg1.model.rpar.objs);i+=1) {
o = arg1.model.rpar.objs[this.i-1];
if (typeof(o)=="Link") {
from = arg1.model.rpar.objs[o.from[1-1]-1];
to = arg1.model.rpar.objs[o.to[1-1]-1];
if (from.gui=="GAINBLK") {
switch (to.gui) {
case "SUMMATION":
ppath[1-1] = o.from[1-1];
case "INTEGRAL_m":
ppath[2-1] = o.from[1-1];
case "DERIV":
ppath[3-1] = o.from[1-1];
}
} else if (to.gui=="GAINBLK") {
switch (from.gui) {
case "SUMMATION":
ppath[1-1] = o.to[1-1];
case "INTEGRAL_m":
ppath[2-1] = o.to[1-1];
case "DERIV":
ppath[3-1] = o.to[1-1];
}
}
if (and(ppath!=list(0,0,0))) {
break;
}
}
}
newpar = list();
xx1 = arg1.model.rpar.objs[ppath[1-1]-1];
exprs[1-1] = xx1.graphics.exprs[1-1];
p_old = xx1.model.rpar;
xx2 = arg1.model.rpar.objs[ppath[2-1]-1];
exprs[2-1] = xx2.graphics.exprs[1-1];
i_old = xx2.model.rpar;
xx3 = arg1.model.rpar.objs[ppath[3-1]-1];
exprs[3-1] = xx3.graphics.exprs[1-1];
d_old = xx3.model.rpar;
y = 0;
while (true) {
[ok,this.p,this.i,this.d,this.exprs0] = scicos_getvalue("Set PID parameters",["Proportional","Integral","Derivation"],list("vec",-1,"vec",-1,"vec",-1),exprs);
if (!ok) {
break;
}
if (ok) {
xx1.graphics.exprs = this.exprs0[1-1];
xx1.model.rpar = this.p;
xx2.graphics.exprs = this.exprs0[2-1];
xx2.model.rpar = this.i;
xx3.graphics.exprs = this.exprs0[3-1];
xx3.model.rpar = this.d;
arg1.model.rpar.objs[ppath[1-1]-1] = xx1;
arg1.model.rpar.objs[ppath[2-1]-1] = xx2;
arg1.model.rpar.objs[ppath[3-1]-1] = xx3;
break;
}
}
needcompile = 0;
if (!(p_old==this.p&&i_old==this.i&&d_old==this.d)) {
newpar[size(newpar)+1-1] = ppath[1-1];
newpar[size(newpar)+1-1] = ppath[2-1];
newpar[size(newpar)+1-1] = ppath[3-1];
needcompile = 2;
}
this.x = arg1;
y = max(y,needcompile);
typ = newpar;
return new BasicBlock(this.x);
}
}
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