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Merge 82051d2d58 into 5adeed52b0

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inʒo 2017-02-15 13:07:04 +00:00 committed by GitHub
commit 28ef137ac1
2 changed files with 72 additions and 83 deletions
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86
PID_v1.cpp
View File

@ -14,36 +14,29 @@
#include <PID_v1.h>
/*Constructor (...)*********************************************************
* The parameters specified here are those for for which we can't set up
* The parameters specified here are those for for which we can't set up
* reliable defaults, so we need to have the user set them.
***************************************************************************/
PID::PID(double* Input, double* Output, double* Setpoint,
double Kp, double Ki, double Kd, int ControllerDirection)
PID::PID(double* const Input, double* const Output, double* const Setpoint,
const double Kp, const double Ki, const double Kd, const char ControllerDirection)
: myOutput(Output), myInput(Input), mySetpoint(Setpoint), inAuto(false), SampleTime(100) //default Controller Sample Time is 0.1 seconds
{
myOutput = Output;
myInput = Input;
mySetpoint = Setpoint;
inAuto = false;
PID::SetOutputLimits(0, 255); //default output limit corresponds to
PID::SetOutputLimits(0, 255); //default output limit corresponds to
//the arduino pwm limits
SampleTime = 100; //default Controller Sample Time is 0.1 seconds
PID::SetControllerDirection(ControllerDirection);
PID::SetTunings(Kp, Ki, Kd);
lastTime = millis()-SampleTime;
lastTime = millis()-SampleTime;
}
/* Compute() **********************************************************************
* This, as they say, is where the magic happens. this function should be called
* every time "void loop()" executes. the function will decide for itself whether a new
* pid Output needs to be computed. returns true when the output is computed,
* false when nothing has been done.
**********************************************************************************/
**********************************************************************************/
bool PID::Compute()
{
if(!inAuto) return false;
@ -58,14 +51,14 @@ bool PID::Compute()
if(ITerm > outMax) ITerm= outMax;
else if(ITerm < outMin) ITerm= outMin;
double dInput = (input - lastInput);
/*Compute PID Output*/
double output = kp * error + ITerm- kd * dInput;
if(output > outMax) output = outMax;
else if(output < outMin) output = outMin;
*myOutput = output;
/*Remember some variables for next time*/
lastInput = input;
lastTime = now;
@ -76,21 +69,21 @@ bool PID::Compute()
/* SetTunings(...)*************************************************************
* This function allows the controller's dynamic performance to be adjusted.
* This function allows the controller's dynamic performance to be adjusted.
* it's called automatically from the constructor, but tunings can also
* be adjusted on the fly during normal operation
******************************************************************************/
void PID::SetTunings(double Kp, double Ki, double Kd)
******************************************************************************/
void PID::SetTunings(const double Kp, const double Ki, const double Kd)
{
if (Kp<0 || Ki<0 || Kd<0) return;
dispKp = Kp; dispKi = Ki; dispKd = Kd;
double SampleTimeInSec = ((double)SampleTime)/1000;
double SampleTimeInSec = ((double)SampleTime)/1000;
kp = Kp;
ki = Ki * SampleTimeInSec;
kd = Kd / SampleTimeInSec;
if(controllerDirection ==REVERSE)
{
kp = (0 - kp);
@ -98,11 +91,11 @@ void PID::SetTunings(double Kp, double Ki, double Kd)
kd = (0 - kd);
}
}
/* SetSampleTime(...) *********************************************************
* sets the period, in Milliseconds, at which the calculation is performed
* sets the period, in Milliseconds, at which the calculation is performed
******************************************************************************/
void PID::SetSampleTime(int NewSampleTime)
void PID::SetSampleTime(const int NewSampleTime)
{
if (NewSampleTime > 0)
{
@ -113,7 +106,7 @@ void PID::SetSampleTime(int NewSampleTime)
SampleTime = (unsigned long)NewSampleTime;
}
}
/* SetOutputLimits(...)****************************************************
* This function will be used far more often than SetInputLimits. while
* the input to the controller will generally be in the 0-1023 range (which is
@ -122,17 +115,17 @@ void PID::SetSampleTime(int NewSampleTime)
* want to clamp it from 0-125. who knows. at any rate, that can all be done
* here.
**************************************************************************/
void PID::SetOutputLimits(double Min, double Max)
void PID::SetOutputLimits(const double Min, const double Max)
{
if(Min >= Max) return;
outMin = Min;
outMax = Max;
if(inAuto)
{
if(*myOutput > outMax) *myOutput = outMax;
else if(*myOutput < outMin) *myOutput = outMin;
if(ITerm > outMax) ITerm= outMax;
else if(ITerm < outMin) ITerm= outMin;
}
@ -142,8 +135,8 @@ void PID::SetOutputLimits(double Min, double Max)
* Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
* when the transition from manual to auto occurs, the controller is
* automatically initialized
******************************************************************************/
void PID::SetMode(int Mode)
******************************************************************************/
void PID::SetMode(const char Mode)
{
bool newAuto = (Mode == AUTOMATIC);
if(newAuto && !inAuto)
@ -152,12 +145,12 @@ void PID::SetMode(int Mode)
}
inAuto = newAuto;
}
/* Initialize()****************************************************************
* does all the things that need to happen to ensure a bumpless transfer
* from manual to automatic mode.
******************************************************************************/
void PID::Initialize()
******************************************************************************/
inline void PID::Initialize()
{
ITerm = *myOutput;
lastInput = *myInput;
@ -166,30 +159,19 @@ void PID::Initialize()
}
/* SetControllerDirection(...)*************************************************
* The PID will either be connected to a DIRECT acting process (+Output leads
* The PID will either be connected to a DIRECT acting process (+Output leads
* to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
* know which one, because otherwise we may increase the output when we should
* be decreasing. This is called from the constructor.
******************************************************************************/
void PID::SetControllerDirection(int Direction)
void PID::SetControllerDirection(const char Direction)
{
if(inAuto && Direction !=controllerDirection)
{
kp = (0 - kp);
ki = (0 - ki);
kd = (0 - kd);
}
}
controllerDirection = Direction;
}
/* Status Funcions*************************************************************
* Just because you set the Kp=-1 doesn't mean it actually happened. these
* functions query the internal state of the PID. they're here for display
* purposes. this are the functions the PID Front-end uses for example
******************************************************************************/
double PID::GetKp(){ return dispKp; }
double PID::GetKi(){ return dispKi;}
double PID::GetKd(){ return dispKd;}
int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
int PID::GetDirection(){ return controllerDirection;}

69
PID_v1.h
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@ -2,73 +2,80 @@
#define PID_v1_h
#define LIBRARY_VERSION 1.1.1
//Constants used in some of the functions below
const char AUTOMATIC {1}; // gives better compiler-errors than #defines
const char MANUAL {0};
const char DIRECT {0};
const char REVERSE {1};
class PID
{
public:
//Constants used in some of the functions below
#define AUTOMATIC 1
#define MANUAL 0
#define DIRECT 0
#define REVERSE 1
//commonly used functions **************************************************************************
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, int); // Setpoint. Initial tuning parameters are also set here
void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
PID( double* const, double* const, double* const, // * constructor. links the PID to the Input, Output, and
const double, const double, const double, const char); // Setpoint. Initial tuning parameters are also set here
void SetMode(const char Mode); // * sets PID to either Manual (0) or Auto (non-0)
bool Compute(); // * performs the PID calculation. it should be
// called every time loop() cycles. ON/OFF and
// calculation frequency can be set using SetMode
// SetSampleTime respectively
void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
void SetOutputLimits(const double, const double); //clamps the output to a specific range. 0-255 by default, but
//it's likely the user will want to change this depending on
//the application
//available but not commonly used functions ********************************************************
void SetTunings(double, double, // * While most users will set the tunings once in the
double); // constructor, this function gives the user the option
void SetTunings(const double, const double, // * While most users will set the tunings once in the
const double); // constructor, this function gives the user the option
// of changing tunings during runtime for Adaptive control
void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
void SetControllerDirection(const char); // * Sets the Direction, or "Action" of the controller. DIRECT
// means the output will increase when error is positive. REVERSE
// means the opposite. it's very unlikely that this will be needed
// once it is set in the constructor.
void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
void SetSampleTime(const int); // * sets the frequency, in Milliseconds, with which
// the PID calculation is performed. default is 100
//Display functions ****************************************************************
double GetKp(); // These functions query the pid for interal values.
double GetKi(); // they were created mainly for the pid front-end,
double GetKd(); // where it's important to know what is actually
int GetMode(); // inside the PID.
int GetDirection(); //
/* Just because you set the Kp=-1 doesn't mean it actually happened. these
* functions query the internal state of the PID. they're here for display
* purposes. this are the functions the PID Front-end uses for example
******************************************************************************/
inline double GetKp() { return dispKp; };
inline double GetKi() { return dispKi;};
inline double GetKd() { return dispKd;};
inline char GetMode() { return inAuto ? AUTOMATIC : MANUAL;};
inline char GetDirection(){ return controllerDirection;};
private:
void Initialize();
double dispKp; // * we'll hold on to the tuning parameters in user-entered
PID(const PID&); // declaration only for copy constructor
PID& operator=(const PID&); // declaration only for copy assignment --> make it uncopyable
double dispKp; // * we'll hold on to the tuning parameters in user-entered
double dispKi; // format for display purposes
double dispKd; //
double kp; // * (P)roportional Tuning Parameter
double ki; // * (I)ntegral Tuning Parameter
double kd; // * (D)erivative Tuning Parameter
int controllerDirection;
char controllerDirection;
double *myInput; // * Pointers to the Input, Output, and Setpoint variables
double *myOutput; // This creates a hard link between the variables and the
double *myOutput; // This creates a hard link between the variables and the
double *mySetpoint; // PID, freeing the user from having to constantly tell us
// what these values are. with pointers we'll just know.
unsigned long lastTime;
double ITerm, lastInput;