Brewery/Arduino-PID-Library
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Merge d16b072769 into 9b4ca0e5b6

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Marco D'Agostini 2018-10-17 05:45:10 +00:00 committed by GitHub
commit 8eee63c838
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1 changed files with 10 additions and 8 deletions
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18
PID_v1.cpp
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@ -66,21 +66,23 @@ bool PID::Compute()
double input = *myInput;
double error = *mySetpoint - input;
double dInput = (input - lastInput);
double output;
/*Compute integral*/
outputSum+= (ki * error);
/*Add Proportional on Measurement, if P_ON_M is specified*/
if(!pOnE) outputSum-= kp * dInput;
/*Compute proportional*/
if(pOnE) output = kp * error;
else { outputSum -= kp * dInput; output = 0; }
if(outputSum > outMax) outputSum= outMax;
else if(outputSum < outMin) outputSum= outMin;
/*Add Proportional on Error, if P_ON_E is specified*/
double output;
if(pOnE) output = kp * error;
else output = 0;
/*Compute derivative*/
output -= kd * dInput;
/*Compute Rest of PID Output*/
output += outputSum - kd * dInput;
/*Merge*/
output += outputSum;
if(output > outMax) output = outMax;
else if(output < outMin) output = outMin;