node-pid-controller - npm Package Compare versions

Comparing version 0.1.2 to 1.0.0

lib/index.js

@@ -0,75 +1,79 @@
+"use strict";
+
 /**
  *  PID Controller.
  */
-var Controller = function(k_p, k_i, k_d, dt) {
-  var i_max;
-  if (typeof k_p === 'object') {
-    var options = k_p;
-    k_p = options.k_p;
-    k_i = options.k_i;
-    k_d = options.k_d;
-    dt = options.dt;
-    i_max = options.i_max;
-  }
+class Controller {
+  constructor(k_p, k_i, k_d, dt) {
+    let i_max;
+    if (typeof k_p === 'object') {
+      let options = k_p;
+      k_p = options.k_p;
+      k_i = options.k_i;
+      k_d = options.k_d;
+      dt = options.dt;
+      i_max = options.i_max;
+    }
 
-  // PID constants
-  this.k_p = (typeof k_p === 'number') ? k_p : 1;
-  this.k_i = k_i || 0;
-  this.k_d = k_d || 0;
+    // PID constants
+    this.k_p = (typeof k_p === 'number') ? k_p : 1;
+    this.k_i = k_i || 0;
+    this.k_d = k_d || 0;
 
-  // Interval of time between two updates
-  // If not set, it will be automatically calculated
-  this.dt = dt || 0;
+    // Interval of time between two updates
+    // If not set, it will be automatically calculated
+    this.dt = dt || 0;
 
-  // Maximum absolute value of sumError
-  this.i_max = i_max || 0;
+    // Maximum absolute value of sumError
+    this.i_max = i_max || 0;
 
-  this.sumError  = 0;
-  this.lastError = 0;
-  this.lastTime  = 0;
+    this.sumError  = 0;
+    this.lastError = 0;
+    this.lastTime  = 0;
 
-  this.target    = 0; // default value, can be modified with .setTarget
-};
+    this.target    = 0; // default value, can be modified with .setTarget
+  }
 
-Controller.prototype.setTarget = function(target) {
-  this.target = target;
-};
+  setTarget(target) {
+    this.target = target;
+  }
 
-Controller.prototype.update = function(currentValue) {
-  this.currentValue = currentValue;
+  update(currentValue) {
+    this.currentValue = currentValue;
 
-  // Calculate dt
-  var dt = this.dt;
-  if (!dt) {
-    var currentTime = Date.now();
-    if (this.lastTime === 0) { // First time update() is called
-      dt = 0;
-    } else {
-      dt = (currentTime - this.lastTime) / 1000; // in seconds
+    // Calculate dt
+    let dt = this.dt;
+    if (!dt) {
+      let currentTime = Date.now();
+      if (this.lastTime === 0) { // First time update() is called
+        dt = 0;
+      } else {
+        dt = (currentTime - this.lastTime) / 1000; // in seconds
+      }
+      this.lastTime = currentTime;
     }
-    this.lastTime = currentTime;
-  }
-  if (typeof dt !== 'number' || dt === 0) {
-    dt = 1;
-  }
+    if (typeof dt !== 'number' || dt === 0) {
+      dt = 1;
+    }
 
-  var error = (this.target - this.currentValue);
-  this.sumError = this.sumError + error*dt;
-  if (this.i_max > 0 && Math.abs(this.sumError) > this.i_max) {
-    var sumSign = (this.sumError > 0) ? 1 : -1;
-    this.sumError = sumSign * this.i_max;
-  }
+    let error = (this.target - this.currentValue);
+    this.sumError = this.sumError + error*dt;
+    if (this.i_max > 0 && Math.abs(this.sumError) > this.i_max) {
+      let sumSign = (this.sumError > 0) ? 1 : -1;
+      this.sumError = sumSign * this.i_max;
+    }
 
-  var dError = (error - this.lastError)/dt;
-  this.lastError = error;
+    let dError = (error - this.lastError)/dt;
+    this.lastError = error;
 
-  return (this.k_p*error) + (this.k_i * this.sumError) + (this.k_d * dError);
-};
+    return (this.k_p*error) + (this.k_i * this.sumError) + (this.k_d * dError);
+  }
 
-Controller.prototype.reset = function() {
-  this.sumError  = 0;
-  this.lastError = 0;
-  this.lastTime  = 0;
-};
+  reset() {
+    this.sumError  = 0;
+    this.lastError = 0;
+    this.lastTime  = 0;
+  }
+}
 
 module.exports = Controller;

package.json

 {
   "name": "node-pid-controller",
-  "version": "0.1.2",
+  "version": "1.0.0",
   "description": "Node.js PID controller",
@@ -15,3 +15,3 @@ "keywords": [
   "engines": {
-    "node": ">= v0.8.0"
+    "node": ">= v4.0.0"
   },
@@ -18,0 +18,0 @@ "dependencies": {},

README.md

@@ -22,5 +22,5 @@ # node-pid-controller
 ```js
-var Controller = require('node-pid-controller');
+let Controller = require('node-pid-controller');
 
-var ctr = new Controller({
+let ctr = new Controller({
   k_p: 0.25,
@@ -35,3 +35,3 @@ k_i: 0.01,
 ```js
-var ctr = new Controller(0.25, 0.01, 0.01, 1); // k_p, k_i, k_d, dt
+let ctr = new Controller(0.25, 0.01, 0.01, 1); // k_p, k_i, k_d, dt
 ```
@@ -48,3 +48,3 @@
 ```js
-var correction = ctr.update(110); // 110km/h is the current speed
+let correction = ctr.update(110); // 110km/h is the current speed
 ```
@@ -57,8 +57,8 @@
 ```js
-var goalReached = false
+let goalReached = false
 while (!goalReached) {
-  var output = measureFromSomeSensor();
-  var input  = ctr.update(output);
+  let output = measureFromSomeSensor();
+  let input  = ctr.update(output);
   applyInputToActuator(input);
-  goalReached = (input === 0) ? true : false; // in the case of continuous control, you let this variable 'false'
+  goalReached = (input === 0) ? true : false; // in the case of continuous control, you let this letiable 'false'
 }
@@ -65,0 +65,0 @@ ```

test/index.js

@@ -0,1 +1,3 @@
+"use strict";
+
 /**
@@ -5,3 +7,3 @@ * Module dependencies.
 
-var Controller = require('../')
+let Controller = require('../')
   , should = require('should')
@@ -14,5 +16,5 @@ , assert = require('assert')
  */
-describe('pid-controller', function(){
+describe('pid-controller', () => {
 
-  var options = {
+  let options = {
     k_p: 0.5,
@@ -25,5 +27,5 @@ k_i: 0.1,
   // Create the controller
-  var ctr = new Controller(options.k_p, options.k_i, options.k_d, options.dt);
+  let ctr = new Controller(options.k_p, options.k_i, options.k_d, options.dt);
 
-  it('should have set the coefficient', function() {
+  it('should have set the coefficient', () => {
     ctr.k_p.should.equal(options.k_p);
@@ -35,4 +37,4 @@ ctr.k_i.should.equal(options.k_i);
 
-  it('should have set the coefficient from an options object', function(){
-    var ctr = new Controller(options);
+  it('should have set the coefficient from an options object', () => {
+    let ctr = new Controller(options);
 
@@ -45,4 +47,4 @@ ctr.k_p.should.equal(options.k_p);
 
-  it('should set the target', function(){
-    var v = 120; // 120km/h
+  it('should set the target', () => {
+    let v = 120; // 120km/h
     ctr.setTarget(v);
@@ -52,9 +54,9 @@ ctr.target.should.equal(v);
 
-  it('should return the correction', function(){
-    var vt = 110; // current speed
-    var correction = ctr.update(vt);
+  it('should return the correction', () => {
+    let vt = 110; // current speed
+    let correction = ctr.update(vt);
     correction.should.equal(8);
   });
 
-  it('should reset the controller', function(){
+  it('should reset the controller', () => {
     ctr.reset();
@@ -66,5 +68,5 @@ ctr.sumError.should.equal(0);
 
-  it('should return the correction for the given update interval', function(){
+  it('should return the correction for the given update interval', () => {
     ctr.dt = 2; // 2 seconds between updates
-    var correction = ctr.update(115);
+    let correction = ctr.update(115);
     correction.should.equal(4);
@@ -74,7 +76,7 @@ ctr.dt = options.dt; // Reset dt
 
-  it('should return the correction with sumError <= i_max', function() {
-    var ctr = new Controller(options);
+  it('should return the correction with sumError <= i_max', () => {
+    let ctr = new Controller(options);
     ctr.i_max = 5; // sumError will be 10
     ctr.setTarget(120);
-    var correction = ctr.update(110);
+    let correction = ctr.update(110);
     correction.should.equal(7.5);
@@ -84,6 +86,6 @@ ctr.sumError.should.be.belowOrEqual(ctr.i_max);
 
-  it('should return a null correction', function(){
-    var ctr = new Controller(0, 0, 0);
+  it('should return a null correction', () => {
+    let ctr = new Controller(0, 0, 0);
     ctr.setTarget(120);
-    var correction = ctr.update(110);
+    let correction = ctr.update(110);
     correction.should.equal(0);
@@ -90,0 +92,0 @@ });

Fixed alerts

No v1

Quality

Package is not semver >=1. This means it is not stable and does not support ^ ranges.

Found 1 instance in 1 package

Improved metrics

Total package byte prevSize

6661

increased by0.26%

Lines of code

135

increased by3.05%

Number of low quality alerts

0

decreased by-100%

No dependency changes