ENPM 808X - PID Implementation using Test Driven Development

Overview

This code is part of "Test Driven Development" software development process which is a concept in Agile. This is a simple implementeation of a PID Controller for ACME Robotics, using pair programming method.

Contributors:

Part A
Driver: Aswath Muthuselvam
Navigator: Prannoy Namala
Part B
Driver: Pratik Bhujbal
Navigator: Sumedh Reddy Koppula

About PID Controller

PID controller is by far the most common way of using feedback in a practical industrial system. The output of the PID Controller is based on present, past and future values of error in the system. There are three components in a PID Controller

Proportional Term: The proportional term accounts for the present value of the error.
Intergral Term: The integral term accounts for the past values of the error.
Derivative term: The derivative term accounts for the future values of the error based on the rate of change.

Here is a diagram of how PID Controller looks like

The input/output relation of the PID Controller is given by,

The PID control Variable u(t) is then input to the process. The output from process is then compared to give us error value e(t).

UML Diagram

Here is the link for the UML diagram showing the design of PID controller. External Link.

Standard install via command-line

git clone --recursive https://github.com/aswathselvam/TestDrivenDev.git
cd <path to repository>
mkdir build
cd build
cmake ..
make
Run tests: ./test/cpp-test
Run program: ./app/shell-app

Working with Eclipse IDE

Installation

In your Eclipse workspace directory (or create a new one), checkout the repo (and submodules)

mkdir -p ~/workspace
cd ~/workspace
git clone --recursive https://github.com/aswathselvam/TestDrivenDev.git

In your work directory, use cmake to create an Eclipse project for an [out-of-source build] of cpp-boilerplate

cd ~/workspace
mkdir -p pid-eclipse
cd pid-eclipse
cmake -G "Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug -D CMAKE_ECLIPSE_VERSION=4.7.0 -D CMAKE_CXX_COMPILER_ARG1=-std=c++14 ../TestDrivenDev/

Import

Open Eclipse, go to File -> Import -> General -> Existing Projects into Workspace -> Select "boilerplate-eclipse" directory created previously as root directory -> Finish

Edit

Source files may be edited under the "[Source Directory]" label in the Project Explorer.

Build

To build the project, in Eclipse, unfold boilerplate-eclipse project in Project Explorer, unfold Build Targets, double click on "all" to build all projects.

Run

In Eclipse, right click on the boilerplate-eclipse in Project Explorer, select Run As -> Local C/C++ Application
Choose the binaries to run (e.g. shell-app, cpp-test for unit testing)

aswathselvam / TestDrivenDev