Brewery/Arduino-PID-Library
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Tracking down compile errors.

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This commit is contained in:
Chris Giacofei 2024-05-01 16:13:35 -04:00
parent b3255d94d4
commit d565cded53
2 changed files with 30 additions and 34 deletions
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33
PID_v1.cpp
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@ -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;
@ -121,9 +121,6 @@ int PID::ComputeTune() {
} else {
if(refVal>absMax)absMax=refVal;
if(refVal<absMin)absMin=refVal;
} else {
if(refVal>absMax)absMax=refVal;
if(refVal<absMin)absMin=refVal;
}
//oscillate the output base on the input's relation to the setpoint
@ -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;
if(value<25) {
nLookBack = value * 4;
sampleTime = 250;
SampleTime = 250;
} else {
nLookBack = 100;
sampleTime = value*10;
SampleTime = value*10;
}
}
int PID::LookbackSec(){ return nLookBack * sampleTime / 1000;}
int PID::LookbackSec(){ return nLookBack * SampleTime / 1000;}

13
PID_v1.h
View File

@ -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];