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component lincurve "one-dimensional lookup table";
description """Performs a 1-dimensional lookup and interpolation. The x-val
parameters must be monotonic, though identical adjacent values are allowed.
(for example 0,0,0,10) for a 4-element curve.
For input values less than the x-val-00 breakpoint the y-val-00 is returned.
For x greater than the largest x-val-NN the yval corresponding to x-max is
returned (ie, no extrapolation is performed.)
Sample usage: loadrt lincurve count=3 personality=4,4,4
for a set of three 4-element curves.
The axis breakpoints should be set in the lincurve.N.x-val-NN parameters using
"setp", as should the corresponding y values. """;
param rw float x-val-##[16 : personality] "axis breakpoints";
param rw float y-val-##[16 : personality] "output values to be interpolated";
pin in float in_ "The input value";
pin out float out_ "The output value";
pin io float out-io "The output value, compatible with PID gains";
variable unsigned i = 0;
option extra_setup 1;
author "Andy Pugh";
license "GPL";
function _;
;;
FUNCTION(_){
double f, x;
x = in_;
if (x >= x_val(personality-1)) {
out_ = y_val(personality-1);
out_io = out_;
return;
}
if (x <= x_val(0)) {
out_ = y_val(0);
out_io = out_;
return;
}
while (x > x_val(i+1)) { i++;}
while (x < (x_val(i))) { i--;}
f = (x - x_val(i))/(x_val(i+1)-x_val(i));
out_ = y_val(i) + f * (y_val(i+1) - y_val(i));
out_io = out_;
}
EXTRA_SETUP(){
if (personality > 16) personality = 16;
if (personality < 2) personality = 2;
return 0;
}
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