1670 lines
59 KiB
JSON
1670 lines
59 KiB
JSON
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"text": "config-modbus.h"
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"text": "<PID_v1.h>"
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{
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"type": "comment",
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"text": "// From br3ttb/PID library\r"
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}
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},
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"text": "<PID_AutoTune_v0.h>"
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},
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{
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"type": "comment",
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"text": "// From br3ttb/PID Autotune Library\r"
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}
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]
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},
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{
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"type": "comment",
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"text": "// Define Autotune Status Enum (aligned with Modbus register)\r"
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"text": "AUTOTUNE_OFF"
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"type": "enumerator",
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"text": "AUTOTUNE_RUNNING"
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"type": ";",
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{
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"type": "class_specifier",
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"children": [
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"type": "class",
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"text": "PIDController"
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"type": "base_class_clause",
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"text": "int8_t"
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},
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{
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"type": "identifier",
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"text": "thermoDO"
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"text": "thermoCS"
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"type": "identifier",
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"text": "thermoCLK"
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"type": "destructor_name",
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"type": "~",
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"text": "~"
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},
|
|
{
|
|
"type": "identifier",
|
|
"text": "address"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ",",
|
|
"text": ","
|
|
},
|
|
{
|
|
"type": "parameter_declaration",
|
|
"children": [
|
|
{
|
|
"type": "sized_type_specifier",
|
|
"children": [
|
|
{
|
|
"type": "short",
|
|
"text": "short"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "identifier",
|
|
"text": "value"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "virtual_specifier",
|
|
"children": [
|
|
{
|
|
"type": "override",
|
|
"text": "override"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "void"
|
|
},
|
|
{
|
|
"type": "function_declarator",
|
|
"children": [
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "mb_tcp_register"
|
|
},
|
|
{
|
|
"type": "parameter_list",
|
|
"children": [
|
|
{
|
|
"type": "(",
|
|
"text": "("
|
|
},
|
|
{
|
|
"type": "parameter_declaration",
|
|
"children": [
|
|
{
|
|
"type": "type_identifier",
|
|
"text": "ModbusTCP"
|
|
},
|
|
{
|
|
"type": "pointer_declarator",
|
|
"children": [
|
|
{
|
|
"type": "*",
|
|
"text": "*"
|
|
},
|
|
{
|
|
"type": "identifier",
|
|
"text": "manager"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "virtual_specifier",
|
|
"children": [
|
|
{
|
|
"type": "override",
|
|
"text": "override"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "access_specifier",
|
|
"children": [
|
|
{
|
|
"type": "private",
|
|
"text": "private"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ":",
|
|
"text": ":"
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// MAX6675 Thermocouple Sensor\r"
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "type_identifier",
|
|
"text": "MAX6675"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "thermocouple"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "int8_t"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_thermoDO"
|
|
},
|
|
{
|
|
"type": ",",
|
|
"text": ","
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_thermoCS"
|
|
},
|
|
{
|
|
"type": ",",
|
|
"text": ","
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_thermoCLK"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// PID Controller\r"
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "double"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_setpoint"
|
|
},
|
|
{
|
|
"type": ",",
|
|
"text": ","
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_input"
|
|
},
|
|
{
|
|
"type": ",",
|
|
"text": ","
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_output"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "double"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_kp"
|
|
},
|
|
{
|
|
"type": ",",
|
|
"text": ","
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_ki"
|
|
},
|
|
{
|
|
"type": ",",
|
|
"text": ","
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_kd"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "type_identifier",
|
|
"text": "PID"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_pid"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// PID Autotune\r"
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "type_identifier",
|
|
"text": "PID_ATune"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_aTune"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "bool"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_autotuning"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "type_identifier",
|
|
"text": "AutotuneStatus"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_autotuneStatus"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "double"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_aTuneStartValue"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// Where the output was when AT started\r"
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "double"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_aTuneNoiseBand"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "sized_type_specifier",
|
|
"children": [
|
|
{
|
|
"type": "unsigned",
|
|
"text": "unsigned"
|
|
},
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "int"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_aTuneLookbackSec"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "double"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_lastKp"
|
|
},
|
|
{
|
|
"type": ",",
|
|
"text": ","
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_lastKi"
|
|
},
|
|
{
|
|
"type": ",",
|
|
"text": ","
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_lastKd"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// Store results from autotune\r"
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// Output Control\r"
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "int8_t"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_outputPin"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "sized_type_specifier",
|
|
"children": [
|
|
{
|
|
"type": "unsigned",
|
|
"text": "unsigned"
|
|
},
|
|
{
|
|
"type": "long",
|
|
"text": "long"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_windowStartTime"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "type_qualifier",
|
|
"children": [
|
|
{
|
|
"type": "const",
|
|
"text": "const"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "sized_type_specifier",
|
|
"children": [
|
|
{
|
|
"type": "unsigned",
|
|
"text": "unsigned"
|
|
},
|
|
{
|
|
"type": "long",
|
|
"text": "long"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_windowSize"
|
|
},
|
|
{
|
|
"type": "=",
|
|
"text": "="
|
|
},
|
|
{
|
|
"type": "number_literal",
|
|
"text": "1000"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// PID cycle time (e.g., 1 second)\r"
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "bool"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_pidModeAuto"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// true = AUTO, false = MANUAL\r"
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// Helper methods\r"
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "void"
|
|
},
|
|
{
|
|
"type": "function_declarator",
|
|
"children": [
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "updateTemperature"
|
|
},
|
|
{
|
|
"type": "parameter_list",
|
|
"children": [
|
|
{
|
|
"type": "(",
|
|
"text": "("
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "void"
|
|
},
|
|
{
|
|
"type": "function_declarator",
|
|
"children": [
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "runAutotune"
|
|
},
|
|
{
|
|
"type": "parameter_list",
|
|
"children": [
|
|
{
|
|
"type": "(",
|
|
"text": "("
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "void"
|
|
},
|
|
{
|
|
"type": "function_declarator",
|
|
"children": [
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "applyOutput"
|
|
},
|
|
{
|
|
"type": "parameter_list",
|
|
"children": [
|
|
{
|
|
"type": "(",
|
|
"text": "("
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "void"
|
|
},
|
|
{
|
|
"type": "function_declarator",
|
|
"children": [
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "setPIDMode"
|
|
},
|
|
{
|
|
"type": "parameter_list",
|
|
"children": [
|
|
{
|
|
"type": "(",
|
|
"text": "("
|
|
},
|
|
{
|
|
"type": "parameter_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "bool"
|
|
},
|
|
{
|
|
"type": "identifier",
|
|
"text": "autoMode"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "void"
|
|
},
|
|
{
|
|
"type": "function_declarator",
|
|
"children": [
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "startAutotune"
|
|
},
|
|
{
|
|
"type": "parameter_list",
|
|
"children": [
|
|
{
|
|
"type": "(",
|
|
"text": "("
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "void"
|
|
},
|
|
{
|
|
"type": "function_declarator",
|
|
"children": [
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "cancelAutotune"
|
|
},
|
|
{
|
|
"type": "parameter_list",
|
|
"children": [
|
|
{
|
|
"type": "(",
|
|
"text": "("
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "void"
|
|
},
|
|
{
|
|
"type": "function_declarator",
|
|
"children": [
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "finishAutotune"
|
|
},
|
|
{
|
|
"type": "parameter_list",
|
|
"children": [
|
|
{
|
|
"type": "(",
|
|
"text": "("
|
|
},
|
|
{
|
|
"type": "parameter_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "bool"
|
|
},
|
|
{
|
|
"type": "identifier",
|
|
"text": "success"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "double"
|
|
},
|
|
{
|
|
"type": "function_declarator",
|
|
"children": [
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "scalePIDParam"
|
|
},
|
|
{
|
|
"type": "parameter_list",
|
|
"children": [
|
|
{
|
|
"type": "(",
|
|
"text": "("
|
|
},
|
|
{
|
|
"type": "parameter_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "uint16_t"
|
|
},
|
|
{
|
|
"type": "identifier",
|
|
"text": "modbusValue"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "uint16_t"
|
|
},
|
|
{
|
|
"type": "function_declarator",
|
|
"children": [
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "unscalePIDParam"
|
|
},
|
|
{
|
|
"type": "parameter_list",
|
|
"children": [
|
|
{
|
|
"type": "(",
|
|
"text": "("
|
|
},
|
|
{
|
|
"type": "parameter_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "double"
|
|
},
|
|
{
|
|
"type": "identifier",
|
|
"text": "pidValue"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ")",
|
|
"text": ")"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// Error handling\r"
|
|
},
|
|
{
|
|
"type": "field_declaration",
|
|
"children": [
|
|
{
|
|
"type": "primitive_type",
|
|
"text": "bool"
|
|
},
|
|
{
|
|
"type": "field_identifier",
|
|
"text": "_sensorError"
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "}",
|
|
"text": "}"
|
|
}
|
|
]
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": ";",
|
|
"text": ";"
|
|
},
|
|
{
|
|
"type": "#endif",
|
|
"text": "#endif"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// ENABLE_PID\r"
|
|
},
|
|
{
|
|
"type": "#endif",
|
|
"text": "#endif"
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"type": "comment",
|
|
"text": "// PIDCONTROLLER_H "
|
|
}
|
|
]
|
|
} |