Brewery/Arduino-PID-Library
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clplaneguy 2019-04-04 19:11:57 -05:00 committed by GitHub
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1 changed files with 4 additions and 4 deletions
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PID_v1.cpp
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@ -14,7 +14,7 @@
#include <PID_v1.h> #include <PID_v1.h>
/*Constructor (...)********************************************************* /*Constructor (...)*********************************************************
* The parameters specified here are those for for which we can't set up * The parameters specified here are those 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.
***************************************************************************/ ***************************************************************************/
PID2::PID2(double* Input, double* Output, double* Setpoint, PID2::PID2(double* Input, double* Output, double* Setpoint,
@ -26,9 +26,9 @@ PID2::PID2(double* Input, double* Output, double* Setpoint,
inAuto = false; inAuto = false;
PID::SetOutputLimits(0, 255); //default output limit corresponds to PID::SetOutputLimits(0, 255); //default output limit corresponds to
//the arduino pwm limits //the arduino pwm limits
SampleTime = 100; //default Controller Sample Time is 0.1 seconds SampleTime = 100; //default Controller Sample Time is 0.1 seconds
PID::SetControllerDirection(ControllerDirection); PID::SetControllerDirection(ControllerDirection);
PID::SetTunings(Kp, Ki, Kd, POn); PID::SetTunings(Kp, Ki, Kd, POn);
@ -75,7 +75,7 @@ bool PID2::Compute()
else if(outputSum < outMin) outputSum= outMin; else if(outputSum < outMin) outputSum= outMin;
/*Add Proportional on Error, if P_ON_E is specified*/ /*Add Proportional on Error, if P_ON_E is specified*/
double output; double output;
if(pOnE) output = kp * error; if(pOnE) output = kp * error;
else output = 0; else output = 0;