Brewery/Arduino-PID-Library
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Update to my version - 1.2.2.

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clplaneguy 2019-04-04 19:05:44 -05:00 committed by GitHub
parent aff2e8e688
commit a2764c9461
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1 changed files with 10 additions and 10 deletions
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20
PID_v1.cpp
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@ -17,7 +17,7 @@
* 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, 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;
@ -41,7 +41,7 @@ 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) :PID::PID(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();
@ -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;
@ -172,7 +172,7 @@ 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 PID2::SetMode(int Mode)
{ {
bool newAuto = (Mode == AUTOMATIC); bool newAuto = (Mode == AUTOMATIC);
if(newAuto && !inAuto) if(newAuto && !inAuto)
@ -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;
@ -200,7 +200,7 @@ 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 PID2::SetControllerDirection(int Direction)
{ {
if(inAuto && Direction !=controllerDirection) if(inAuto && Direction !=controllerDirection)
{ {