Brewery/Arduino-PID-Library
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Merge dd51ba7349 into 9b4ca0e5b6

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clplaneguy 2019-04-21 12:37:55 +00:00 committed by GitHub
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6 changed files with 37 additions and 37 deletions
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52
PID_v1.cpp
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@ -1,5 +1,5 @@
/********************************************************************************************** /**********************************************************************************************
* Arduino PID Library - Version 1.2.1 * Arduino Makeblock PID Library - Version 0.0.1
* by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com * by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com
* *
* This Library is licensed under the MIT License * This Library is licensed under the MIT License
@ -14,10 +14,10 @@
#include <PID_v1.h> #include <PID_v1.h>
/*Constructor (...)********************************************************* /*Constructor (...)*********************************************************
* The parameters specified here are those for for which we can't set up * The parameters specified here are those for which we can't set up
* reliable defaults, so we need to have the user set them. * reliable defaults, so we need to have the user set them.
***************************************************************************/ ***************************************************************************/
PID::PID(double* Input, double* Output, double* Setpoint, PID2::PID2(double* Input, double* Output, double* Setpoint,
double Kp, double Ki, double Kd, int POn, int ControllerDirection) double Kp, double Ki, double Kd, int POn, int ControllerDirection)
{ {
myOutput = Output; myOutput = Output;
@ -25,13 +25,13 @@ PID::PID(double* Input, double* Output, double* Setpoint,
mySetpoint = Setpoint; mySetpoint = Setpoint;
inAuto = false; inAuto = false;
PID::SetOutputLimits(0, 255); //default output limit corresponds to PID2::SetOutputLimits(0, 255); //default output limit corresponds to
//the arduino pwm limits //the arduino pwm limits
SampleTime = 100; //default Controller Sample Time is 0.1 seconds SampleTime = 100; //default Controller Sample Time is 0.1 seconds
PID::SetControllerDirection(ControllerDirection); PID2::SetControllerDirection(ControllerDirection);
PID::SetTunings(Kp, Ki, Kd, POn); PID2::SetTunings(Kp, Ki, Kd, POn);
lastTime = millis()-SampleTime; lastTime = millis()-SampleTime;
} }
@ -41,9 +41,9 @@ PID::PID(double* Input, double* Output, double* Setpoint,
* to use Proportional on Error without explicitly saying so * to use Proportional on Error without explicitly saying so
***************************************************************************/ ***************************************************************************/
PID::PID(double* Input, double* Output, double* Setpoint, PID2::PID2(double* Input, double* Output, double* Setpoint,
double Kp, double Ki, double Kd, int ControllerDirection) double Kp, double Ki, double Kd, int ControllerDirection)
:PID::PID(Input, Output, Setpoint, Kp, Ki, Kd, P_ON_E, ControllerDirection) :PID2::PID2(Input, Output, Setpoint, Kp, Ki, Kd, P_ON_E, ControllerDirection)
{ {
} }
@ -55,7 +55,7 @@ PID::PID(double* Input, double* Output, double* Setpoint,
* pid Output needs to be computed. returns true when the output is computed, * pid Output needs to be computed. returns true when the output is computed,
* false when nothing has been done. * false when nothing has been done.
**********************************************************************************/ **********************************************************************************/
bool PID::Compute() bool PID2::Compute()
{ {
if(!inAuto) return false; if(!inAuto) return false;
unsigned long now = millis(); unsigned long now = millis();
@ -75,7 +75,7 @@ bool PID::Compute()
else if(outputSum < outMin) outputSum= outMin; else if(outputSum < outMin) outputSum= outMin;
/*Add Proportional on Error, if P_ON_E is specified*/ /*Add Proportional on Error, if P_ON_E is specified*/
double output; double output;
if(pOnE) output = kp * error; if(pOnE) output = kp * error;
else output = 0; else output = 0;
@ -99,7 +99,7 @@ bool PID::Compute()
* it's called automatically from the constructor, but tunings can also * it's called automatically from the constructor, but tunings can also
* be adjusted on the fly during normal operation * be adjusted on the fly during normal operation
******************************************************************************/ ******************************************************************************/
void PID::SetTunings(double Kp, double Ki, double Kd, int POn) void PID2::SetTunings(double Kp, double Ki, double Kd, int POn)
{ {
if (Kp<0 || Ki<0 || Kd<0) return; if (Kp<0 || Ki<0 || Kd<0) return;
@ -124,14 +124,14 @@ void PID::SetTunings(double Kp, double Ki, double Kd, int POn)
/* SetTunings(...)************************************************************* /* SetTunings(...)*************************************************************
* Set Tunings using the last-rembered POn setting * Set Tunings using the last-rembered POn setting
******************************************************************************/ ******************************************************************************/
void PID::SetTunings(double Kp, double Ki, double Kd){ void PID2::SetTunings(double Kp, double Ki, double Kd){
SetTunings(Kp, Ki, Kd, pOn); SetTunings(Kp, Ki, Kd, pOn);
} }
/* SetSampleTime(...) ********************************************************* /* 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 PID2::SetSampleTime(int NewSampleTime)
{ {
if (NewSampleTime > 0) if (NewSampleTime > 0)
{ {
@ -151,7 +151,7 @@ void PID::SetSampleTime(int NewSampleTime)
* want to clamp it from 0-125. who knows. at any rate, that can all be done * want to clamp it from 0-125. who knows. at any rate, that can all be done
* here. * here.
**************************************************************************/ **************************************************************************/
void PID::SetOutputLimits(double Min, double Max) void PID2::SetOutputLimits(double Min, double Max)
{ {
if(Min >= Max) return; if(Min >= Max) return;
outMin = Min; outMin = Min;
@ -172,12 +172,12 @@ void PID::SetOutputLimits(double Min, double Max)
* when the transition from manual to auto occurs, the controller is * when the transition from manual to auto occurs, the controller is
* automatically initialized * automatically initialized
******************************************************************************/ ******************************************************************************/
void PID::SetMode(int Mode) void PID2::SetMode(int Mode)
{ {
bool newAuto = (Mode == AUTOMATIC); bool newAuto = (Mode == AUTOMATIC);
if(newAuto && !inAuto) if(newAuto && !inAuto)
{ /*we just went from manual to auto*/ { /*we just went from manual to auto*/
PID::Initialize(); PID2::Initialize();
} }
inAuto = newAuto; inAuto = newAuto;
} }
@ -186,7 +186,7 @@ void PID::SetMode(int Mode)
* does all the things that need to happen to ensure a bumpless transfer * does all the things that need to happen to ensure a bumpless transfer
* from manual to automatic mode. * from manual to automatic mode.
******************************************************************************/ ******************************************************************************/
void PID::Initialize() void PID2::Initialize()
{ {
outputSum = *myOutput; outputSum = *myOutput;
lastInput = *myInput; lastInput = *myInput;
@ -200,11 +200,11 @@ void PID::Initialize()
* know which one, because otherwise we may increase the output when we should * know which one, because otherwise we may increase the output when we should
* be decreasing. This is called from the constructor. * be decreasing. This is called from the constructor.
******************************************************************************/ ******************************************************************************/
void PID::SetControllerDirection(int Direction) void PID2::SetControllerDirection(int Direction)
{ {
if(inAuto && Direction !=controllerDirection) if(inAuto && Direction !=controllerDirection)
{ {
kp = (0 - kp); kp = (0 - kp);
ki = (0 - ki); ki = (0 - ki);
kd = (0 - kd); kd = (0 - kd);
} }
@ -216,9 +216,9 @@ void PID::SetControllerDirection(int Direction)
* functions query the internal state of the PID. they're here for display * 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 * purposes. this are the functions the PID Front-end uses for example
******************************************************************************/ ******************************************************************************/
double PID::GetKp(){ return dispKp; } double PID2::GetKp(){ return dispKp; }
double PID::GetKi(){ return dispKi;} double PID2::GetKi(){ return dispKi;}
double PID::GetKd(){ return dispKd;} double PID2::GetKd(){ return dispKd;}
int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;} int PID2::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
int PID::GetDirection(){ return controllerDirection;} int PID2::GetDirection(){ return controllerDirection;}

8
PID_v1.h
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@ -1,8 +1,8 @@
#ifndef PID_v1_h #ifndef PID_v1_h
#define PID_v1_h #define PID_v1_h
#define LIBRARY_VERSION 1.2.1 #define LIBRARY_VERSION 1.2.2
class PID class PID2
{ {
@ -17,11 +17,11 @@ class PID
#define P_ON_E 1 #define P_ON_E 1
//commonly used functions ************************************************************************** //commonly used functions **************************************************************************
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and PID2(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here. double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here.
// (overload for specifying proportional mode) // (overload for specifying proportional mode)
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and PID2(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, int); // Setpoint. Initial tuning parameters are also set here 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) void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)

2
README.txt
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@ -1,5 +1,5 @@
*************************************************************** ***************************************************************
* Arduino PID Library - Version 1.2.1 * Arduino Makeblock PID Library - Version 0.0.1
* by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com * by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com
* *
* This Library is licensed under the MIT License * This Library is licensed under the MIT License

2
keywords.txt
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@ -1,4 +1,4 @@
####################################### ####################################### PID2 0.0.1
# Syntax Coloring Map For PID Library # Syntax Coloring Map For PID Library
####################################### #######################################

2
library.json
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@ -1,5 +1,5 @@
{ {
"name": "PID", "name": "PID2",
"keywords": "PID, controller, signal", "keywords": "PID, controller, signal",
"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).", "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).",
"url": "http://playground.arduino.cc/Code/PIDLibrary", "url": "http://playground.arduino.cc/Code/PIDLibrary",

8
library.properties
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@ -1,9 +1,9 @@
name=PID name=PID2
version=1.2.1 version=0.0.1
author=Brett Beauregard author=Brett Beauregard
maintainer=Brett Beauregard maintainer=r2d2orc2po@yahoo.com
sentence=PID controller sentence=PID controller
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). 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).
category=Signal Input/Output category=Input/Output
url=http://playground.arduino.cc/Code/PIDLibrary url=http://playground.arduino.cc/Code/PIDLibrary
architectures=* architectures=*