From d565cded53094ac01a63078cd4c0f1295aad67b4 Mon Sep 17 00:00:00 2001
From: Chris Giacofei <cgiacofe@mazdausa.com>
Date: Wed, 1 May 2024 16:13:35 -0400
Subject: [PATCH] Tracking down compile errors.

---
 PID_v1.cpp | 51 ++++++++++++++++++++++++---------------------------
 PID_v1.h   | 13 ++++++-------
 2 files changed, 30 insertions(+), 34 deletions(-)

diff --git a/PID_v1.cpp b/PID_v1.cpp
index 517d28d..fb9aae0 100644
--- a/PID_v1.cpp
+++ b/PID_v1.cpp
@@ -102,7 +102,7 @@ int PID::ComputeTune() {
   }
   unsigned long now = millis();
 
-  if((now-lastTime)<sampleTime) return false;
+  if((now-lastTime)<SampleTime) return false;
 
   lastTime = now;
   double refVal = *myInput;
@@ -118,10 +118,7 @@ int PID::ComputeTune() {
     autotune_running = true;
     outputStart = *myOutput;
     *myOutput = outputStart+oStep;
-    } else {
-    if(refVal>absMax)absMax=refVal;
-    if(refVal<absMin)absMin=refVal;
-    } else {
+  } else {
     if(refVal>absMax)absMax=refVal;
     if(refVal<absMin)absMin=refVal;
   }
@@ -222,7 +219,7 @@ void PID::SetTunings(double Kp, double Ki, double Kd){
 /* SetSampleTime(...) *********************************************************
 * sets the period, in Milliseconds, at which the calculation is performed
 ******************************************************************************/
-void PID::SampleTime(int NewSampleTime){
+void PID::SetSampleTime(int NewSampleTime){
   if (NewSampleTime > 0){
     double ratio  = (double)NewSampleTime
     / (double)SampleTime;
@@ -309,30 +306,30 @@ void PID::Direction(int Direction){
 * functions query the internal state of the PID.  they're here for display
 * purposes.  this are the functions the PID Front-end uses for example
 ******************************************************************************/
-double PID::Kp(){ return Kp; }
-double PID::Ki(){ return Ki;}
-double PID::Kd(){ return Kd;}
-int PID::Mode(){ return OpMode;}
+double PID::Kp(){ return kp; }
+double PID::Ki(){ return ki;}
+double PID::Kd(){ return kd;}
+modes PID::Mode(){ return OpMode;}
 int PID::Direction(){ return controllerDirection;}
 void PID::Cancel(){ autotune_running = false;}
 double PID::TunedKp(){ return 0.6 * Ku;}
-double PID::TunedKi(){ return 1.2*Ku / Pu ;  // Ki = Kc/Ti}
-  double PID::TunedKd(){ return 0.075 * Ku * Pu;  //Kd = Kc * Td}
-    void PID::SetOutputStep(double Step){ oStep = Step;}
-    double PID::GetOutputStep(){ return oStep;}
-    void PID::SetNoiseBand(double Band){ noise_band = Band;}
-    double PID::GetNoiseBand(){ return noise_band;}
+double PID::TunedKi(){ return 1.2*Ku / Pu ;}  // Ki = Kc/Ti}
+double PID::TunedKd(){ return 0.075 * Ku * Pu;}  //Kd = Kc * Td}
+void PID::OutputStep(double Step){ oStep = Step;}
+double PID::OutputStep(){ return oStep;}
+void PID::NoiseBand(double Band){ noise_band = Band;}
+double PID::NoiseBand(){ return noise_band;}
 
-    void PID::LookbackSec(int value){
-      if (value<1) value = 1;
+void PID::LookbackSec(int value){
+  if (value<1) value = 1;
 
-      if(value<25) {
-        nLookBack = value * 4;
-        sampleTime = 250;
-        } else {
-        nLookBack = 100;
-        sampleTime = value*10;
-      }
-    }
+  if(value<25) {
+    nLookBack = value * 4;
+    SampleTime = 250;
+    } else {
+    nLookBack = 100;
+    SampleTime = value*10;
+  }
+}
 
-    int PID::LookbackSec(){ return nLookBack * sampleTime / 1000;}
+int PID::LookbackSec(){ return nLookBack * SampleTime / 1000;}
diff --git a/PID_v1.h b/PID_v1.h
index 5a93d32..e720141 100644
--- a/PID_v1.h
+++ b/PID_v1.h
@@ -46,7 +46,7 @@ class PID
                                           //   means the output will increase when error is positive. REVERSE
                                           //   means the opposite.  it's very unlikely that this will be needed
                                           //   once it is set in the constructor.
-    void SampleTime(int);                 // * sets the frequency, in Milliseconds, with which 
+    void SetSampleTime(int);              // * sets the frequency, in Milliseconds, with which 
                                           //   the PID calculation is performed.  default is 100
                                           
   //Display functions ****************************************************************
@@ -59,14 +59,14 @@ class PID
   // Auto Tune Public
     void Cancel();                        // * Stops the AutoTune 
     
-    void SetOutputStep(double);           // * how far above and below the starting value will the output step?   
-    double GetOutputStep();               // 
+    void OutputStep(double);           // * how far above and below the starting value will the output step?   
+    double OutputStep();               // 
 
     void LookbackSec(int);                // * how far back are we looking to identify peaks
     int LookbackSec();                    //
     
-    void SetNoiseBand(double);            // * the autotune will ignore signal chatter smaller than this value
-    double GetNoiseBand();                //   this should be acurately set
+    void NoiseBand(double);            // * the autotune will ignore signal chatter smaller than this value
+    double NoiseBand();                //   this should be acurately set
     
     double TunedKp();                     // * once autotune is complete, these functions contain the
     double TunedKi();                     //   computed tuning parameters.  
@@ -90,7 +90,6 @@ class PID
     unsigned long lastTime;
     double outputSum, lastInput;
 
-    unsigned long SampleTime;
     double outMin, outMax;
     bool inAuto, pOnE;
     modes OpMode;
@@ -101,7 +100,7 @@ class PID
     double noise_band;
     bool autotune_running;
     unsigned long peak1, peak2;
-    int sampleTime;
+    int SampleTime;
     int nLookBack;
     int peakType;
     double lastInputs[101];