package  
{
	import flash.display.*;
	import flash.events.*;

	import fl.controls.*;

	public class Main extends MovieClip
	{
		//Nos trois coefficients PID en %
		private var kP:Number = 20;
		private var kI:Number = 10;
		private var kD:Number = 0;
		
		private var lastError:Number = 0;
		private var errSum:Number = 0;
		private var consigne:Number = 0;
		//
		private function computePID(error:Number):Number {
			
			var P:Number, I:Number, D:Number;
			
			errSum += error;                 //Somme les erreurs depuis le début 
			
			var errDif:Number = error - lastError;      //Calcule la variation de l'erreur
			
			lastError = error;
			
			P = error * kP;                  //Proportionnelle
			I = errSum * kI;                 //Intégrale
			D = errDif * kD;                 //Dérivée
			
			return (P + I + D)/100;                //Le résultat est la somme des trois en %
			
		}
		
		private function resetPID():void {
			errSum = 0;
			lastError = 0;
		}		
		
		//function que si repete 30 fois par sg
		private function tick(e:Event) {
			
			if (physiqueInitiated) {
				vel += grav ;
				vel *= (1 - friction);
			}
			
			
			if (controleurInitiated) {
				
				var error:Number = consigne - (pos+vel)  ;
				var result:Number = computePID(error);
				
				if (result < 0) result = Math.max( - maxVel, result);
				else if (!doubleDirection) result = vel;
				else result = Math.min(maxVel, result);
				
				vel = result;
			}
			
			
			pos += vel ;
			
			// ont touche le sol
			if ( pos > maxY ) {
				vel = -vel;
				pos = maxY;
			}
			
			
			graf.save(pos);
			//rendu
			dessein.y = pos;
		}

		
		//physique simulé
		private var pos:Number = 0;
		private var vel:Number = 0;
		private var grav:Number = 2;
		private var friction:Number = 0.05;
		// sol
		private var maxY:int ;
		
		// moteur max
		private var maxVel:Number = 100;
		
		// system
		private var dessein:MovieClip;
		private var graf:GraphiqueTemps;
		private var spacer:uint = 50;
		private var bt:Sprite;
		
		private var controleurInitiated:Boolean = false;
		private var physiqueInitiated:Boolean = true;
		private var doubleDirection:Boolean = true;
		
		// INIT
		
		public function Main() {
			addEventListener(Event.ADDED_TO_STAGE, init);
		}
		
		
		private function init(e:Event):void {
			stage.align = StageAlign.TOP_LEFT;
			stage.scaleMode = StageScaleMode.NO_SCALE;
			stage.stageFocusRect = false;
			
			initUI();
			initAnim();
			
			dessein = new Ascenseur();
			dessein.mouseEnabled = false;
			dessein.x = spacer;
			pos = dessein.y = 0;
			
			graf = new GraphiqueTemps(1);
			graf.mouseEnabled = false;
			graf.x = spacer * 2  + dessein.width;
			resize();
			
			// ont le montre a l'ecran
			addChild(graf);
			addChild(dessein);
			
			removeEventListener(Event.ADDED_TO_STAGE, init);
			stage.addEventListener(Event.RESIZE, resize);
			
		}
		private function initAnim():void {
			
			bt = new Sprite();
			bt.graphics.beginFill(0xE9E9E9);
			bt.graphics.drawRect(0, 0, 1,1);
			
			addChild(bt);
			
			bt.addEventListener(MouseEvent.MOUSE_DOWN, press);
			stage.addEventListener(Event.ENTER_FRAME, tick);
		}
		private function initUI():void{
			UI.btOK.addEventListener(MouseEvent.CLICK, btOkCLick);
			
			var result:Number = maxVel * 30 ;
			
			UI.inputTextVelMotor.text = result.toString();
			UI.inputTextP.text = kP.toString();
			UI.inputTextI.text = kI.toString();
			UI.inputTextD.text = kD.toString();
			
			result = friction * 100;
			UI.inputTextGrav.text = grav.toString();
			UI.inputTextFric.text = result.toString();
			
			UI.checkcontroleurInitiated.selected = controleurInitiated;
			UI.checkPhysiqueInitiated.selected = physiqueInitiated;
			
			UI.checkDoubleDirection.selected = doubleDirection;
			
		}
		
		
		//UI
		
		private function resize(e:Event=null):void {
			trace("resize");
			graf.setSize(stage.stageWidth - spacer * 2 - dessein.width -UI.width , stage.stageHeight);
			
			UI.x = stage.stageWidth - UI.width;
			
			bt.width = UI.x ;
			bt.height = stage.stageHeight;
			
			maxY = stage.stageHeight - 100;
		}
		
		private function btOkCLick(e:MouseEvent):void {
			
			maxVel = parseFloat(UI.inputTextVelMotor.text)/30;
			
			kP = parseFloat(UI.inputTextP.text);
			kI = parseFloat(UI.inputTextI.text);
			kD = parseFloat(UI.inputTextD.text);
			
			grav = parseFloat(UI.inputTextGrav.text);
			friction = parseFloat(UI.inputTextFric.text)/100;
			
			if (controleurInitiated != UI.checkcontroleurInitiated.selected)resetPID();
			if (physiqueInitiated != UI.checkPhysiqueInitiated.selected) vel = 0;
			
			controleurInitiated = UI.checkcontroleurInitiated.selected;
			physiqueInitiated = UI.checkPhysiqueInitiated.selected;
			
			doubleDirection = UI.checkDoubleDirection.selected;
			
		}
		private function press(e:MouseEvent):void {
			controleurInitiated = UI.checkcontroleurInitiated.selected =  true;
			resetPID();
			vel = 0;
			consigne = mouseY;
		}
	}
}

import flash.display.*;
import flash.events.*;

class GraphiqueTemps extends Sprite {
	
	private var listValue:Array;
	private var _w:uint;
	private var _h:uint;
	private var _step:uint;
	
	private var limit:uint;
	
	private var _count:uint;
	
	function GraphiqueTemps (step:uint) {
		_step = step;
		reset();
	}
	
	public function setSize(w:uint,h:uint) {
		_w = w;
		_h = h;
		
		limit = w / _step;
		var len:uint = listValue.length;
		listValue.splice(0, len - limit);
	}
	
	public function save(value:Number):void {
		
		if (_count++ >= _step) {
			if(listValue.length > limit) listValue.shift();
			listValue.push(value);
			_count = 0;
			draw();
		}
		
	}
	
	private function draw():void {
			graphics.clear();
			graphics.lineStyle(1);
			graphics.drawRect(0,0,_w,_h);
			graphics.lineStyle(1);
			graphics.moveTo(0, listValue[0]);
			
		for (var i:int = 1; i < listValue.length ; i++){
			graphics.lineTo(i*_step,listValue[i]);
		}
	}
	
	public function reset():void {
		listValue = new Array();
	}
}