added raden launch

library/lib_pid.ks

@@ -0,0 +1,87 @@
+// lib_pid.ks provides routines to implement a simple generic PID controller.
+// Copyright © 2015,2016,2019,2023 KSLib team 
+// Lic. MIT
+@LAZYGLOBAL off.
+@CLOBBERBUILTINS off.
+
+HUDTEXT("lib_pid.ks has been superseded by the kOS inbuilt PIDloop() function.", 10, 2, 30, RED, FALSE).
+wait 0.5.
+HUDTEXT("It is maintained for example purposes only, please see the kOS documentation for more.", 10, 4, 30, RED, FALSE).
+
+function PID_init {
+  parameter
+    Kp,      // gain of position
+    Ki,      // gain of integral
+    Kd,      // gain of derivative
+    cMin,  // the bottom limit of the control range (to protect against integral windup)
+    cMax.  // the the upper limit of the control range (to protect against integral windup)
+
+  local SeekP is 0. // desired value for P (will get set later).
+  local P is 0.     // phenomenon P being affected.
+  local I is 0.     // crude approximation of Integral of P.
+  local D is 0.     // crude approximation of Derivative of P.
+  local oldT is -1. // (old time) start value flags the fact that it hasn't been calculated
+  local oldInput is 0. // previous return value of PID controller.
+
+  // Because we don't have proper user structures in kOS (yet?)
+  // I'll store the PID tracking values in a list like so:
+  //
+  local PID_array is list(Kp, Ki, Kd, cMin, cMax, SeekP, P, I, D, oldT, oldInput).
+
+  return PID_array.
+}.
+
+function PID_seek {
+  parameter
+    PID_array, // array built with PID_init.
+    seekVal,   // value we want.
+    curVal.    // value we currently have.
+
+  // Using LIST() as a poor-man's struct.
+
+  local Kp   is PID_array[0].
+  local Ki   is PID_array[1].
+  local Kd   is PID_array[2].
+  local cMin is PID_array[3].
+  local cMax is PID_array[4].
+  local oldS   is PID_array[5].
+  local oldP   is PID_array[6].
+  local oldI   is PID_array[7].
+  local oldD   is PID_array[8].
+  local oldT   is PID_array[9]. // Old Time
+  local oldInput is PID_array[10]. // prev return value, just in case we have to do nothing and return it again.
+
+  local P is seekVal - curVal.
+  local D is oldD. // default if we do no work this time.
+  local I is oldI. // default if we do no work this time.
+  local newInput is oldInput. // default if we do no work this time.
+
+  local t is time:seconds.
+  local dT is t - oldT.
+
+  if oldT < 0 {
+    // I have never been called yet - so don't trust any
+    // of the settings yet.
+  } else {
+    if dT > 0 { // Do nothing if no physics tick has passed from prev call to now.
+     set D to (P - oldP)/dT. // crude fake derivative of P
+     local onlyPD is Kp*P + Kd*D.
+     if (oldI > 0 or onlyPD > cMin) and (oldI < 0 or onlyPD < cMax) { // only do the I turm when within the control range
+      set I to oldI + P*dT. // crude fake integral of P
+     }.
+     set newInput to onlyPD + Ki*I.
+    }.
+  }.
+
+  set newInput to max(cMin,min(cMax,newInput)).
+
+  // remember old values for next time.
+  set PID_array[5] to seekVal.
+  set PID_array[6] to P.
+  set PID_array[7] to I.
+  set PID_array[8] to D.
+  set PID_array[9] to t.
+  set PID_array[10] to newInput.
+
+  return newInput.
+}.