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feat: improve controllers #244

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d61e4cc
improve pid incremental
gabrielfrasantos Aug 8, 2026
bb79a5f
improve lqg and lqr
gabrielfrasantos Aug 8, 2026
2fe329a
improve controllers
gabrielfrasantos Aug 8, 2026
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71 changes: 0 additions & 71 deletions .claude/agents/modernizer.md
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74 changes: 0 additions & 74 deletions .github/agents/modernizer.agent.md
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80 changes: 20 additions & 60 deletions numerical/controllers/implementations/PidIncremental.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,11 +14,9 @@ namespace controllers
class PidIncrementalBase
{
public:
void Reset();
void SetPoint(QNumberType setPoint);
void SetLimits(PidLimits<QNumberType> limits);
void SetTunings(PidTunings<QNumberType> tunnings);
void Enable();
void Disable();
QNumberType Process(QNumberType processVariable);

protected:
Expand Down Expand Up @@ -50,13 +48,11 @@ namespace controllers
{
public:
PidIncrementalAsynchronous(PidDriver<QNumberType>& driver, std::chrono::system_clock::duration sampleTime, PidTunings<QNumberType> tunnings, PidLimits<QNumberType> limits);
~PidIncrementalAsynchronous();

// Implementation of AsynchronousPidController
void Reset() override;
void SetPoint(QNumberType setPoint) override;
void SetLimits(PidLimits<QNumberType> limits) override;
void SetTunings(PidTunings<QNumberType> tunnings) override;
void Enable() override;
void Disable() override;

private:
PidDriver<QNumberType>& driver;
Expand All @@ -71,12 +67,9 @@ namespace controllers
public:
PidIncrementalSynchronous(PidTunings<QNumberType> tunnings, PidLimits<QNumberType> limits);

// Implementation of SynchronousPidController
void Reset() override;
void SetPoint(QNumberType setPoint) override;
void SetLimits(PidLimits<QNumberType> limits) override;
void SetTunings(PidTunings<QNumberType> tunnings) override;
void Enable() override;
void Disable() override;
QNumberType Process(QNumberType processVariable) override;
};

Expand All @@ -93,35 +86,20 @@ namespace controllers
}

template<class QNumberType>
void PidIncrementalBase<QNumberType>::SetPoint(QNumberType _setPoint)
{
this->setPointValue = _setPoint;
this->hasSetPoint = true;
}

template<class QNumberType>
void PidIncrementalBase<QNumberType>::Enable()
void PidIncrementalBase<QNumberType>::Reset()
{
u = QNumberType(0.0f);
u_1 = QNumberType(0.0f);

e = QNumberType(0.0f);
e_1 = QNumberType(0.0f);
e_2 = QNumberType(0.0f);
}

template<class QNumberType>
void PidIncrementalBase<QNumberType>::Disable()
{
hasSetPoint = false;
}

template<class QNumberType>
void PidIncrementalBase<QNumberType>::SetLimits(PidLimits<QNumberType> _limits)
void PidIncrementalBase<QNumberType>::SetPoint(QNumberType _setPoint)
{
really_assert(_limits.max > _limits.min);

this->limits = _limits;
this->setPointValue = _setPoint;
this->hasSetPoint = true;
}

template<class QNumberType>
Expand Down Expand Up @@ -173,31 +151,25 @@ namespace controllers
{
this->driver.ControlAction(this->PidIncrementalBase<QNumberType>::Process(processVariable));
});
driver.Start(sampleTime);
}

template<class QNumberType>
void PidIncrementalAsynchronous<QNumberType>::SetPoint(QNumberType _setPoint)
template<typename QNumberType>
PidIncrementalAsynchronous<QNumberType>::~PidIncrementalAsynchronous()
{
PidIncrementalBase<QNumberType>::SetPoint(_setPoint);
driver.Stop();
}

template<class QNumberType>
void PidIncrementalAsynchronous<QNumberType>::Enable()
void PidIncrementalAsynchronous<QNumberType>::Reset()
{
PidIncrementalBase<QNumberType>::Enable();
driver.Start(sampleTime);
}

template<typename QNumberType>
void PidIncrementalAsynchronous<QNumberType>::Disable()
{
driver.Stop();
PidIncrementalBase<QNumberType>::Reset();
}

template<class QNumberType>
void PidIncrementalAsynchronous<QNumberType>::SetLimits(PidLimits<QNumberType> limits)
void PidIncrementalAsynchronous<QNumberType>::SetPoint(QNumberType _setPoint)
{
PidIncrementalBase<QNumberType>::SetLimits(limits);
PidIncrementalBase<QNumberType>::SetPoint(_setPoint);
}

template<class QNumberType>
Expand All @@ -213,15 +185,15 @@ namespace controllers
}

template<class QNumberType>
void PidIncrementalSynchronous<QNumberType>::SetPoint(QNumberType setPoint)
void PidIncrementalSynchronous<QNumberType>::Reset()
{
PidIncrementalBase<QNumberType>::SetPoint(setPoint);
PidIncrementalBase<QNumberType>::Reset();
}

template<class QNumberType>
void PidIncrementalSynchronous<QNumberType>::SetLimits(PidLimits<QNumberType> limits)
void PidIncrementalSynchronous<QNumberType>::SetPoint(QNumberType setPoint)
{
PidIncrementalBase<QNumberType>::SetLimits(limits);
PidIncrementalBase<QNumberType>::SetPoint(setPoint);
}

template<class QNumberType>
Expand All @@ -230,18 +202,6 @@ namespace controllers
PidIncrementalBase<QNumberType>::SetTunings(tunnings);
}

template<class QNumberType>
void PidIncrementalSynchronous<QNumberType>::Enable()
{
PidIncrementalBase<QNumberType>::Enable();
}

template<class QNumberType>
void PidIncrementalSynchronous<QNumberType>::Disable()
{
PidIncrementalBase<QNumberType>::Disable();
}

template<class QNumberType>
OPTIMIZE_FOR_SPEED
QNumberType
Expand Down
36 changes: 36 additions & 0 deletions numerical/controllers/implementations/test/TestBangBangHysteresis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,3 +91,39 @@ TEST_F(TestBangBangHysteresis, custom_output_levels)
EXPECT_FLOAT_EQ(customRelay.Update(0.0f), -1.0f);
EXPECT_FLOAT_EQ(customRelay.Update(0.2f), 1.0f);
}

TEST_F(TestBangBangHysteresis, reset_to_high_state)
{
relay.Reset(controllers::RelayState::High);

EXPECT_EQ(relay.State(), controllers::RelayState::High);
EXPECT_FLOAT_EQ(relay.Update(0.0f), 1.0f);
EXPECT_EQ(relay.State(), controllers::RelayState::High);
}

TEST_F(TestBangBangHysteresis, stays_low_inside_band)
{
float output = relay.Update(0.1f);

EXPECT_EQ(relay.State(), controllers::RelayState::Low);
EXPECT_FLOAT_EQ(output, 0.0f);
}

TEST_F(TestBangBangHysteresis, does_not_switch_high_below_upper_threshold)
{
float output = relay.Update(0.19f);

EXPECT_EQ(relay.State(), controllers::RelayState::Low);
EXPECT_FLOAT_EQ(output, 0.0f);
}

TEST_F(TestBangBangHysteresis, reset_then_update_matches_fresh_instance)
{
relay.Update(0.3f);
relay.Reset();

controllers::BangBangHysteresis<float> fresh{ -0.2f, 0.2f, 0.0f, 1.0f };

EXPECT_FLOAT_EQ(relay.Update(0.1f), fresh.Update(0.1f));
EXPECT_EQ(relay.State(), fresh.State());
}
26 changes: 24 additions & 2 deletions numerical/controllers/implementations/test/TestFeedforward2Dof.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,9 @@ TEST_F(TestFeedforward2Dof, passes_correct_error_to_feedback)
EXPECT_CALL(ff, Evaluate(0.4f)).WillOnce(testing::Return(0.0f));
EXPECT_CALL(fb, Process(0.3f)).WillOnce(testing::Return(0.3f));

controller.Compute(0.4f, 0.1f);
float result{ controller.Compute(0.4f, 0.1f) };

EXPECT_NEAR(result, 0.3f, math::Tolerance<float>());
}

TEST_F(TestFeedforward2Dof, passes_reference_to_feedforward)
Expand Down Expand Up @@ -87,6 +89,26 @@ TEST_F(TestFeedforward2Dof, perfect_feedforward_zero_error)
EXPECT_NEAR(result, 0.7f, math::Tolerance<float>());
}

TEST_F(TestFeedforward2Dof, output_is_clamped_negative)
{
EXPECT_CALL(ff, Evaluate(testing::_)).WillOnce(testing::Return(-0.9f));
EXPECT_CALL(fb, Process(testing::_)).WillOnce(testing::Return(-0.9f));

float result{ controller.Compute(-1.0f, 0.0f) };

EXPECT_NEAR(result, -1.0f, math::Tolerance<float>());
}

TEST_F(TestFeedforward2Dof, zero_feedback_reduces_to_feedforward)
{
EXPECT_CALL(ff, Evaluate(0.5f)).WillOnce(testing::Return(0.4f));
EXPECT_CALL(fb, Process(testing::_)).WillOnce(testing::Return(0.0f));

float result{ controller.Compute(0.5f, 0.1f) };

EXPECT_NEAR(result, 0.4f, math::Tolerance<float>());
}

TEST_F(TestFeedforward2Dof, reset_delegates_to_feedback)
{
EXPECT_CALL(fb, Reset()).Times(1);
Expand All @@ -97,7 +119,7 @@ TEST_F(TestFeedforward2Dof, reset_delegates_to_feedback)
TEST_F(TestFeedforward2Dof, negative_reference_handled)
{
EXPECT_CALL(ff, Evaluate(-0.3f)).WillOnce(testing::Return(-0.2f));
EXPECT_CALL(fb, Process(testing::_)).WillOnce(testing::Return(-0.1f));
EXPECT_CALL(fb, Process(-0.3f)).WillOnce(testing::Return(-0.1f));

float result{ controller.Compute(-0.3f, 0.0f) };

Expand Down
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