diff options
Diffstat (limited to '')
| -rw-r--r-- | src/main.cpp | 43 |
1 files changed, 27 insertions, 16 deletions
diff --git a/src/main.cpp b/src/main.cpp index 2d442b7..f169982 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -34,7 +34,8 @@ struct GState int nyquist; int rlocus; } n_samples; - float gain; + float gain_re; + float gain_im; bool autogain; float time_start; float time_len; @@ -74,11 +75,7 @@ ImPlotPoint step_getter(int idx, void *data) ImPlotPoint rlocus_getter(int idx, void *data) { - ct::LocusSeries *ls = (ct::LocusSeries *) data; - // FIXME: this is a very ugly trick - idx = idx % ls->n_samples; - int row = (int) (idx / ls->n_samples); - return ImPlotPoint(ls->out(row, idx).real(), ls->out(row, idx).imag()); + // return ImPlotPoint(ls->out(row, idx).real(), ls->out(row, idx).imag()); } @@ -152,7 +149,8 @@ int main(int, char**) .nyquist = 500, .rlocus = 2000, }, - .gain = 1., + .gain_re = 1., + .gain_im = 0., .autogain = false, .time_start = 0, .time_len = 10, @@ -198,23 +196,33 @@ int main(int, char**) if (gstate.npoles || gstate.nzeros) { // Create new transfer function - ct::TransferFn tf(gstate.gain); + ct::TransferFn tf; + for (int k = 0; k < gstate.npoles; k++) tf.add_pole(ct::complex(gstate.poles[k].x, gstate.poles[k].y)); for (int k = 0; k < gstate.nzeros; k++) tf.add_zero(ct::complex(gstate.zeros[k].x, gstate.zeros[k].y)); + ct::TransferFn tf_cl = ct::feedback(tf); // Autogain if (gstate.autogain) { - gstate.gain = abs(tf.den.coeffs.back() / tf.num.coeffs.back()); + ct::complex gain = 1. / tf_cl.dc_gain(); + tf_cl = gain * tf_cl; + gstate.gain_re = gain.real(); + gstate.gain_im = gain.imag(); + } + else + { + ct::complex gain(gstate.gain_re, gstate.gain_im); + tf_cl = gain * tf_cl; } - if (tf.is_proper()) + if (tf_cl.is_proper()) { // Convert to state space - ct::SSModel ss = ct::ctrb_form(tf); + ct::SSModel ss = ct::ctrb_form(ct::feedback(tf)); // New time series cstate.time = ct::TimeSeries(gstate.time_start, @@ -253,9 +261,9 @@ int main(int, char**) ImGui::SeparatorText("Plant G(s)"); - ImGui::SliderFloat("Gain", &gstate.gain, -1000, 1000, NULL, ImGuiSliderFlags_Logarithmic); - ImGui::SameLine(); ImGui::Checkbox("Automatic", &gstate.autogain); + ImGui::SliderFloat("Gain (real)", &gstate.gain_re, -1000, 1000, NULL, ImGuiSliderFlags_Logarithmic); + ImGui::SliderFloat("Gain (imag)", &gstate.gain_im, -1000, 1000, NULL, ImGuiSliderFlags_Logarithmic); ImGui::PushItemWidth(140); if (ImGui::BeginListBox("Poles")) @@ -362,9 +370,12 @@ int main(int, char**) ImPlot::SetupAxesLimits(-10, 10, -10, 10); // Plot curren root locus - // FIXME: this is a very ugly trick - ImPlot::PlotLineG("Root Locus", rlocus_getter, &cstate.rlocus, - cstate.rlocus.n_samples * cstate.rlocus.out.n_rows); + for (int i = 0; i < cstate.rlocus.out.n_rows; i++) + { + ImGui::PushID(i); + // ImPlot::PlotLineG("Root Locus", rlocus_getter, &cstate.rlocus.out.row(i), cstate.rlocus.n_samples); + ImGui::PopID(); + } if (ImPlot::IsPlotHovered() && ImGui::GetIO().KeyCtrl) { |