Brewery/Arduino-PID-Library
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

auto-reformat by Atom/PlatformIO

Browse Source
This commit is contained in:
Enrico Gueli
2017-05-13 21:07:19 +02:00
parent 5d68eb9020
commit 75dba97d45
2 changed files with 42 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
PID_v1.h
View File

@ -15,9 +15,9 @@ class PID
#define REVERSE 1
//commonly used functions **************************************************************************
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
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)
bool Compute(); // * performs the PID calculation. it should be
@ -28,36 +28,36 @@ class PID
void SetOutputLimits(double, 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
void SetTunings(double, double, // * While most users will set the tunings once in the
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
// 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(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
double GetKd(); // where it's important to know what is actually
int GetMode(); // inside the PID.
int GetDirection(); //
private:
void Initialize();
double dispKp; // * we'll hold on to the tuning parameters in user-entered
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
@ -65,10 +65,10 @@ class PID
int 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;
@ -77,4 +77,3 @@ class PID
bool inAuto;
};
#endif