Files
WoodDrone/Graph/Telemetry/HexapodControl/ConvNorm.h
Dana Markova 0de214c9a1 first commit
2025-07-28 13:21:36 +03:00

113 lines
2.2 KiB
C++

#pragma once
class PhaseNorm
{
public:
PhaseNorm(const double v, const double r1, const double r2, const double l, const double c1) : V(v), R1(r1), R2(r2), L(l), C1(c1) {}
static double Freq;
static long Update;
static double Quant;
private:
double V;
double R1;
double R2;
double L;
double C1;
double Cf = 0;
double Rf = 0;
double Integ_L = 0;
double Integ_C1 = 0;
double Integ_Cf = 0;
static double C2;
static double Buffer_C2;
static double Integ_C2;
static long Count;
static unsigned long Step;
public:
double Current;
double Voltage;
static double Buffer;
public:
void filter(const double r, const double c) { Cf = c; Rf = r; }
void set(const double c2);
void convert(const bool on, const long compare);
public:
static unsigned long buffer(double Load);
public:
void update(const double v, const double r1, const double r2, const double l, const double c1) { V = v; R1 = r1; R2 = r2; L = l; C1 = c1; }
static void freq(double f, long u) { Freq = f; Update = u; Quant = (Freq * Update); }
};
double PhaseNorm::Freq = 1000.0;
long PhaseNorm::Update = 100; // 100%
double PhaseNorm::Quant = (Freq * Update);
double PhaseNorm::C2;
double PhaseNorm::Buffer_C2;
double PhaseNorm::Integ_C2;
long PhaseNorm::Count;
double PhaseNorm::Buffer;
unsigned long PhaseNorm::Step;
void PhaseNorm::set(const double c2)
{
Integ_L = Current = 1;
Integ_C1 = Voltage = 5;
C2 = c2;
Buffer_C2 = Buffer = 5;
Integ_C2 = 5;
Count = 0;
Step = 0;
}
void PhaseNorm::convert(const bool on, const long compare)
{
double pulse = 1.0 - (((double)compare) / 100.0);
if (!on) pulse = 1.0;
//---
double var1 = V - (Integ_L * R1) - Integ_C1;
var1 = var1 / (R1 * C1);
Integ_C1 += var1 / Quant;
Voltage = Integ_C1;
//---
double var2 = Integ_C1 - Integ_C2 * pulse;
var2 -= Integ_L * R2;
var2 /= L;
Integ_L += var2 / Quant;
Current = Integ_L;
//---
Buffer_C2 += pulse * Integ_L;
}
unsigned long PhaseNorm::buffer(double Load)
{
Count++;
if (Count >= Update) Count = 0;
//---
if (Load)
{
Buffer_C2 -= (1.0 / Load) * Integ_C2;
}
//---
Buffer_C2 /= C2;
Integ_C2 += Buffer_C2 / Quant;
Buffer_C2 = 0;
//---
Buffer = Integ_C2;
//---
return Step++;
}