Merge dd51ba7349 into 9b4ca0e5b6
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clplaneguy
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52
PID_v1.cpp
52
PID_v1.cpp
@ -1,5 +1,5 @@
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/**********************************************************************************************
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* Arduino PID Library - Version 1.2.1
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* Arduino Makeblock PID Library - Version 0.0.1
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* by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com
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*
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* This Library is licensed under the MIT License
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@ -14,10 +14,10 @@
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#include <PID_v1.h>
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/*Constructor (...)*********************************************************
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* The parameters specified here are those for for which we can't set up
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* The parameters specified here are those for which we can't set up
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* reliable defaults, so we need to have the user set them.
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***************************************************************************/
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PID::PID(double* Input, double* Output, double* Setpoint,
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PID2::PID2(double* Input, double* Output, double* Setpoint,
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double Kp, double Ki, double Kd, int POn, int ControllerDirection)
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{
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myOutput = Output;
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@ -25,13 +25,13 @@ PID::PID(double* Input, double* Output, double* Setpoint,
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mySetpoint = Setpoint;
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inAuto = false;
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PID::SetOutputLimits(0, 255); //default output limit corresponds to
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//the arduino pwm limits
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PID2::SetOutputLimits(0, 255); //default output limit corresponds to
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//the arduino pwm limits
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SampleTime = 100; //default Controller Sample Time is 0.1 seconds
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SampleTime = 100; //default Controller Sample Time is 0.1 seconds
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PID::SetControllerDirection(ControllerDirection);
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PID::SetTunings(Kp, Ki, Kd, POn);
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PID2::SetControllerDirection(ControllerDirection);
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PID2::SetTunings(Kp, Ki, Kd, POn);
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lastTime = millis()-SampleTime;
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}
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@ -41,9 +41,9 @@ PID::PID(double* Input, double* Output, double* Setpoint,
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* to use Proportional on Error without explicitly saying so
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***************************************************************************/
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PID::PID(double* Input, double* Output, double* Setpoint,
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PID2::PID2(double* Input, double* Output, double* Setpoint,
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double Kp, double Ki, double Kd, int ControllerDirection)
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:PID::PID(Input, Output, Setpoint, Kp, Ki, Kd, P_ON_E, ControllerDirection)
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:PID2::PID2(Input, Output, Setpoint, Kp, Ki, Kd, P_ON_E, ControllerDirection)
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{
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}
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@ -55,7 +55,7 @@ PID::PID(double* Input, double* Output, double* Setpoint,
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* pid Output needs to be computed. returns true when the output is computed,
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* false when nothing has been done.
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**********************************************************************************/
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bool PID::Compute()
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bool PID2::Compute()
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{
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if(!inAuto) return false;
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unsigned long now = millis();
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@ -75,7 +75,7 @@ bool PID::Compute()
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else if(outputSum < outMin) outputSum= outMin;
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/*Add Proportional on Error, if P_ON_E is specified*/
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double output;
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double output;
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if(pOnE) output = kp * error;
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else output = 0;
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@ -99,7 +99,7 @@ bool PID::Compute()
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* it's called automatically from the constructor, but tunings can also
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* be adjusted on the fly during normal operation
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******************************************************************************/
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void PID::SetTunings(double Kp, double Ki, double Kd, int POn)
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void PID2::SetTunings(double Kp, double Ki, double Kd, int POn)
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{
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if (Kp<0 || Ki<0 || Kd<0) return;
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@ -124,14 +124,14 @@ void PID::SetTunings(double Kp, double Ki, double Kd, int POn)
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/* SetTunings(...)*************************************************************
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* Set Tunings using the last-rembered POn setting
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******************************************************************************/
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void PID::SetTunings(double Kp, double Ki, double Kd){
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void PID2::SetTunings(double Kp, double Ki, double Kd){
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SetTunings(Kp, Ki, Kd, pOn);
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}
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/* SetSampleTime(...) *********************************************************
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* sets the period, in Milliseconds, at which the calculation is performed
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******************************************************************************/
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void PID::SetSampleTime(int NewSampleTime)
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void PID2::SetSampleTime(int NewSampleTime)
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{
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if (NewSampleTime > 0)
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{
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@ -151,7 +151,7 @@ void PID::SetSampleTime(int NewSampleTime)
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* want to clamp it from 0-125. who knows. at any rate, that can all be done
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* here.
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**************************************************************************/
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void PID::SetOutputLimits(double Min, double Max)
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void PID2::SetOutputLimits(double Min, double Max)
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{
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if(Min >= Max) return;
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outMin = Min;
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@ -172,12 +172,12 @@ void PID::SetOutputLimits(double Min, double Max)
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* when the transition from manual to auto occurs, the controller is
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* automatically initialized
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******************************************************************************/
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void PID::SetMode(int Mode)
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void PID2::SetMode(int Mode)
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{
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bool newAuto = (Mode == AUTOMATIC);
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if(newAuto && !inAuto)
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{ /*we just went from manual to auto*/
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PID::Initialize();
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PID2::Initialize();
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}
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inAuto = newAuto;
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}
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@ -186,7 +186,7 @@ void PID::SetMode(int Mode)
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* does all the things that need to happen to ensure a bumpless transfer
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* from manual to automatic mode.
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******************************************************************************/
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void PID::Initialize()
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void PID2::Initialize()
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{
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outputSum = *myOutput;
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lastInput = *myInput;
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@ -200,11 +200,11 @@ void PID::Initialize()
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* know which one, because otherwise we may increase the output when we should
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* be decreasing. This is called from the constructor.
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******************************************************************************/
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void PID::SetControllerDirection(int Direction)
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void PID2::SetControllerDirection(int Direction)
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{
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if(inAuto && Direction !=controllerDirection)
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{
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kp = (0 - kp);
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kp = (0 - kp);
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ki = (0 - ki);
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kd = (0 - kd);
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}
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@ -216,9 +216,9 @@ void PID::SetControllerDirection(int Direction)
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* functions query the internal state of the PID. they're here for display
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* purposes. this are the functions the PID Front-end uses for example
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******************************************************************************/
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double PID::GetKp(){ return dispKp; }
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double PID::GetKi(){ return dispKi;}
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double PID::GetKd(){ return dispKd;}
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int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
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int PID::GetDirection(){ return controllerDirection;}
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double PID2::GetKp(){ return dispKp; }
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double PID2::GetKi(){ return dispKi;}
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double PID2::GetKd(){ return dispKd;}
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int PID2::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
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int PID2::GetDirection(){ return controllerDirection;}
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8
PID_v1.h
8
PID_v1.h
@ -1,8 +1,8 @@
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#ifndef PID_v1_h
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#define PID_v1_h
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#define LIBRARY_VERSION 1.2.1
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#define LIBRARY_VERSION 1.2.2
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class PID
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class PID2
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{
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@ -17,11 +17,11 @@ class PID
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#define P_ON_E 1
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//commonly used functions **************************************************************************
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PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
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PID2(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
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double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here.
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// (overload for specifying proportional mode)
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PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
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PID2(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
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double, double, double, int); // Setpoint. Initial tuning parameters are also set here
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void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
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@ -1,5 +1,5 @@
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***************************************************************
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* Arduino PID Library - Version 1.2.1
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* Arduino Makeblock PID Library - Version 0.0.1
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* by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com
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*
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* This Library is licensed under the MIT License
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@ -1,4 +1,4 @@
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#######################################
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####################################### PID2 0.0.1
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# Syntax Coloring Map For PID Library
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#######################################
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{
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"name": "PID",
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"name": "PID2",
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"keywords": "PID, controller, signal",
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"description": "A PID controller seeks to keep some input variable close to a desired setpoint by adjusting an output. The way in which it does this can be 'tuned' by adjusting three parameters (P,I,D).",
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"url": "http://playground.arduino.cc/Code/PIDLibrary",
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name=PID
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version=1.2.1
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name=PID2
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version=0.0.1
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author=Brett Beauregard
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maintainer=Brett Beauregard
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maintainer=r2d2orc2po@yahoo.com
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sentence=PID controller
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paragraph=A PID controller seeks to keep some input variable close to a desired setpoint by adjusting an output. The way in which it does this can be 'tuned' by adjusting three parameters (P,I,D).
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category=Signal Input/Output
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category=Input/Output
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url=http://playground.arduino.cc/Code/PIDLibrary
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architectures=*
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