Brewery/Arduino-PID-Library
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modified SetSampleTime() to set the internal SampleTime variable to zero for an input argument of zero, without modifying ki or kd. This forces Compute() to generate a new output value each time it is called, and allows the PID engine to be synchronized with an external timing source

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This commit is contained in:
Frank Paynter 2021-05-15 15:11:01 -04:00
parent 9b4ca0e5b6
commit 9e7662e9ea
1 changed files with 7 additions and 1 deletions
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6
PID_v1.cpp
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@ -130,6 +130,8 @@ 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
* 15 May 2021 gfp - a value of zero will force Compute() to generate a new output every time it is called
* but avoids the 'divide-by-zero' problem
******************************************************************************/ ******************************************************************************/
void PID::SetSampleTime(int NewSampleTime) void PID::SetSampleTime(int NewSampleTime)
{ {
@ -139,6 +141,10 @@ void PID::SetSampleTime(int NewSampleTime)
/ (double)SampleTime; / (double)SampleTime;
ki *= ratio; ki *= ratio;
kd /= ratio; kd /= ratio;
//SampleTime = (unsigned long)NewSampleTime;
}
else if (NewSampleTime == 0)
{
SampleTime = (unsigned long)NewSampleTime; SampleTime = (unsigned long)NewSampleTime;
} }
} }