Brewery/Arduino-PID-Library
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update Compute() so it computes on the first call

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tlatorre 2021-01-18 12:27:22 -06:00
parent 9b4ca0e5b6
commit cccbc9af30
1 changed files with 4 additions and 1 deletions
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5
PID_v1.cpp
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@ -57,10 +57,12 @@ PID::PID(double* Input, double* Output, double* Setpoint,
**********************************************************************************/ **********************************************************************************/
bool PID::Compute() bool PID::Compute()
{ {
static bool first = true;
if(!inAuto) return false; if(!inAuto) return false;
unsigned long now = millis(); unsigned long now = millis();
unsigned long timeChange = (now - lastTime); unsigned long timeChange = (now - lastTime);
if(timeChange>=SampleTime) if(first || (timeChange>=SampleTime))
{ {
/*Compute all the working error variables*/ /*Compute all the working error variables*/
double input = *myInput; double input = *myInput;
@ -89,6 +91,7 @@ bool PID::Compute()
/*Remember some variables for next time*/ /*Remember some variables for next time*/
lastInput = input; lastInput = input;
lastTime = now; lastTime = now;
first = false;
return true; return true;
} }
else return false; else return false;