proper c++-Style with many changes

- used constness wherever possible
- cleaner constructor with proper initialized variables
- replaced defines (preprocessor) by const type to get better
compiler-errors
- inlined the display-functions --> typically found in the header
- made the class uncopyable to get no strange undefined behavior if
someone tries it
- controllerDirection and Mode have been int-type, but char will suffice
This commit is contained in:
orgua 2015-04-29 01:22:00 +02:00
parent d46dded42d
commit 82051d2d58
2 changed files with 72 additions and 83 deletions

View File

@ -17,20 +17,13 @@
* 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. * reliable defaults, so we need to have the user set them.
***************************************************************************/ ***************************************************************************/
PID::PID(double* Input, double* Output, double* Setpoint, PID::PID(double* const Input, double* const Output, double* const Setpoint,
double Kp, double Ki, double Kd, int ControllerDirection) 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 //the arduino pwm limits
SampleTime = 100; //default Controller Sample Time is 0.1 seconds
PID::SetControllerDirection(ControllerDirection); PID::SetControllerDirection(ControllerDirection);
PID::SetTunings(Kp, Ki, Kd); PID::SetTunings(Kp, Ki, Kd);
@ -80,7 +73,7 @@ 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) void PID::SetTunings(const double Kp, const double Ki, const double Kd)
{ {
if (Kp<0 || Ki<0 || Kd<0) return; if (Kp<0 || Ki<0 || Kd<0) return;
@ -102,7 +95,7 @@ void PID::SetTunings(double Kp, double Ki, double Kd)
/* 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 PID::SetSampleTime(const int NewSampleTime)
{ {
if (NewSampleTime > 0) if (NewSampleTime > 0)
{ {
@ -122,7 +115,7 @@ 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 PID::SetOutputLimits(const double Min, const double Max)
{ {
if(Min >= Max) return; if(Min >= Max) return;
outMin = Min; outMin = Min;
@ -143,7 +136,7 @@ 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 PID::SetMode(const char Mode)
{ {
bool newAuto = (Mode == AUTOMATIC); bool newAuto = (Mode == AUTOMATIC);
if(newAuto == !inAuto) if(newAuto == !inAuto)
@ -157,7 +150,7 @@ 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() inline void PID::Initialize()
{ {
ITerm = *myOutput; ITerm = *myOutput;
lastInput = *myInput; lastInput = *myInput;
@ -171,7 +164,7 @@ 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 PID::SetControllerDirection(const char Direction)
{ {
if(inAuto && Direction !=controllerDirection) if(inAuto && Direction !=controllerDirection)
{ {
@ -182,14 +175,3 @@ void PID::SetControllerDirection(int Direction)
controllerDirection = Direction; 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;}

View File

@ -2,58 +2,65 @@
#define PID_v1_h #define PID_v1_h
#define LIBRARY_VERSION 1.1.1 #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 class PID
{ {
public: public:
//Constants used in some of the functions below
#define AUTOMATIC 1
#define MANUAL 0
#define DIRECT 0
#define REVERSE 1
//commonly used functions ************************************************************************** //commonly used functions **************************************************************************
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and PID( double* const, double* const, double* const, // * constructor. links the PID to the Input, Output, and
double, double, double, int); // Setpoint. Initial tuning parameters are also set here const double, const double, const double, const char); // Setpoint. Initial tuning parameters are also set here
void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0) void SetMode(const char Mode); // * sets PID to either Manual (0) or Auto (non-0)
bool Compute(); // * performs the PID calculation. it should be bool Compute(); // * performs the PID calculation. it should be
// called every time loop() cycles. ON/OFF and // called every time loop() cycles. ON/OFF and
// calculation frequency can be set using SetMode // calculation frequency can be set using SetMode
// SetSampleTime respectively // 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 //it's likely the user will want to change this depending on
//the application //the application
//available but not commonly used functions ******************************************************** //available but not commonly used functions ********************************************************
void SetTunings(double, double, // * While most users will set the tunings once in the void SetTunings(const double, const double, // * While most users will set the tunings once in the
double); // constructor, this function gives the user the option const double); // constructor, this function gives the user the option
// of changing tunings during runtime for Adaptive control // 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 output will increase when error is positive. REVERSE
// means the opposite. it's very unlikely that this will be needed // means the opposite. it's very unlikely that this will be needed
// once it is set in the constructor. // 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 // the PID calculation is performed. default is 100
//Display functions **************************************************************** //Display functions ****************************************************************
double GetKp(); // These functions query the pid for interal values. /* Just because you set the Kp=-1 doesn't mean it actually happened. these
double GetKi(); // they were created mainly for the pid front-end, * functions query the internal state of the PID. they're here for display
double GetKd(); // where it's important to know what is actually * purposes. this are the functions the PID Front-end uses for example
int GetMode(); // inside the PID. ******************************************************************************/
int GetDirection(); // 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: private:
void Initialize(); void Initialize();
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 dispKp; // * we'll hold on to the tuning parameters in user-entered
double dispKi; // format for display purposes double dispKi; // format for display purposes
double dispKd; // double dispKd; //
@ -62,7 +69,7 @@ class PID
double ki; // * (I)ntegral Tuning Parameter double ki; // * (I)ntegral Tuning Parameter
double kd; // * (D)erivative Tuning Parameter double kd; // * (D)erivative Tuning Parameter
int controllerDirection; char controllerDirection;
double *myInput; // * Pointers to the Input, Output, and Setpoint variables 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