Merge 7753b80500 into c61fb89363

PID_v1/PID_v1.cpp

@@ -32,9 +32,8 @@ PID::PID(double* Input, double* Output, double* Setpoint,
     SampleTime = 100;							//default Controller Sample Time is 0.1 seconds
 
     PID::SetControllerDirection(ControllerDirection);
+    PID::SetResolution(MILLIS); // Use a resolution of milliseconds by default
     PID::SetTunings(Kp, Ki, Kd);
-
-    lastTime = millis()-SampleTime;				
 }
  
  
@@ -47,17 +46,25 @@ PID::PID(double* Input, double* Output, double* Setpoint,
 bool PID::Compute()
 {
    if(!inAuto) return false;
-   unsigned long now = millis();
-   unsigned long timeChange = (now - lastTime);
-   if(timeChange>=SampleTime)
+   unsigned long now = PID::GetTime();
+   timeChange = (now - lastTime);
+   if(SampleTime == 0 || timeChange>=SampleTime)
    {
       /*Compute all the working error variables*/
 	  double input = *myInput;
       double error = *mySetpoint - input;
-      ITerm+= (ki * error);
+
+      double dInput;
+      if (SampleTime > 0) {
+        ITerm += (ki * error);
+        dInput = (input - lastInput);
+      } else {
+        ITerm += (ki * error)*(((double)timeChange)/secondsDivider);
+        dInput = (input - lastInput)/(((double)timeChange)/secondsDivider);
+      }
+
       if(ITerm > outMax) ITerm= outMax;
       else if(ITerm < outMin) ITerm= outMin;
-      double dInput = (input - lastInput);
  
       /*Compute PID Output*/
       double output = kp * error + ITerm- kd * dInput;
@@ -85,11 +92,17 @@ void PID::SetTunings(double Kp, double Ki, double Kd)
    if (Kp<0 || Ki<0 || Kd<0) return;
  
    dispKp = Kp; dispKi = Ki; dispKd = Kd;
-   
-   double SampleTimeInSec = ((double)SampleTime)/1000;  
-   kp = Kp;
-   ki = Ki * SampleTimeInSec;
-   kd = Kd / SampleTimeInSec;
+
+   if (SampleTime > 0) {
+    double SampleTimeInSec = ((double)SampleTime)/secondsDivider;  
+    kp = Kp;
+    ki = Ki * SampleTimeInSec;
+    kd = Kd / SampleTimeInSec;
+   } else {
+    kp = Kp;
+    ki = Ki;
+    kd = Kd;
+   }
  
   if(controllerDirection ==REVERSE)
    {
@@ -100,18 +113,25 @@ void PID::SetTunings(double Kp, double Ki, double Kd)
 }
   
 /* SetSampleTime(...) *********************************************************
- * sets the period, in Milliseconds, at which the calculation is performed	
+ * sets the period, in Milliseconds, at which the calculation is performed
+ * If it's set to 0 or a negative value it will computer every time the
+ * function is called
  ******************************************************************************/
 void PID::SetSampleTime(int NewSampleTime)
 {
    if (NewSampleTime > 0)
    {
-      double ratio  = (double)NewSampleTime
-                      / (double)SampleTime;
+      double ratio;
+      if (SampleTime > 0)
+        ratio = (double)NewSampleTime/(double)SampleTime;
+      else
+        ratio = (double)NewSampleTime/(double)timeChange; // We will assume the user is calling Compute at a regular interval
+
       ki *= ratio;
       kd /= ratio;
       SampleTime = (unsigned long)NewSampleTime;
-   }
+   } else
+      SampleTime = 0; // We will compute every time the function is called
 }
  
 /* SetOutputLimits(...)****************************************************
@@ -182,6 +202,29 @@ void PID::SetControllerDirection(int Direction)
    controllerDirection = Direction;
 }
 
+/* GetTime()*******************************************************************
+ * Will get the current time either by using millis() or micros()
+ ******************************************************************************/
+unsigned long PID::GetTime()
+{
+  if (secondsDivider == 1000.0) return millis();
+  return micros();
+}
+
+/* SetResolution(...)**********************************************************
+ * Will set the resolution of GetTime().
+ * MILLIS will set the resolution to milliseconds while
+ * MICROS will set the resolution to microseconds.
+ ******************************************************************************/
+void PID::SetResolution(int resolution)
+{
+  if (resolution == MILLIS)
+    secondsDivider = 1000.0;
+  else
+    secondsDivider = 1000000.0;
+  lastTime = PID::GetTime()-SampleTime; // Update last time variable
+}
+
 /* 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 

PID_v1/PID_v1.h

@@ -13,6 +13,8 @@ class PID
   #define MANUAL	0
   #define DIRECT  0
   #define REVERSE  1
+  #define MILLIS  0
+  #define MICROS  1
 
   //commonly used functions **************************************************************************
     PID(double*, double*, double*,        // * constructor.  links the PID to the Input, Output, and 
@@ -41,6 +43,9 @@ class PID
 										  //   once it is set in the constructor.
     void SetSampleTime(int);              // * sets the frequency, in Milliseconds, with which 
                                           //   the PID calculation is performed.  default is 100
+    void SetResolution(int);			  // * Set the resolution of the GetTime() function. 
+    									  //   MILLIS sets the resolution to milliseconds.
+    									  //   MICROS sets the resolution to microseconds.
 										  
 										  
 										  
@@ -53,6 +58,8 @@ class PID
 
   private:
 	void Initialize();
+	unsigned long GetTime();    // * This will call either millis() or micros()
+	                            //   depending on the used resolution.
 	
 	double dispKp;				// * we'll hold on to the tuning parameters in user-entered 
 	double dispKi;				//   format for display purposes
@@ -71,8 +78,10 @@ class PID
 			  
 	unsigned long lastTime;
 	double ITerm, lastInput;
+	unsigned long timeChange;
 
 	unsigned long SampleTime;
+	double secondsDivider;
 	double outMin, outMax;
 	bool inAuto;
 };

PID_v1/keywords.txt

@@ -18,6 +18,7 @@ SetOutputLimits	KEYWORD2
 SetTunings	KEYWORD2
 SetControllerDirection	KEYWORD2
 SetSampleTime	KEYWORD2
+SetResolution	KEYWORD2
 GetKp	KEYWORD2
 GetKi	KEYWORD2
 GetKd	KEYWORD2
@@ -31,4 +32,6 @@ GetDirection	KEYWORD2
 AUTOMATIC	LITERAL1
 MANUAL	LITERAL1
 DIRECT	LITERAL1
-REVERSE	LITERAL1
+REVERSE	LITERAL1
+MILLIS	LITERAL1
+MICROS	LITERAL1