d46dded42d
when github was adding a hash to the library download zip, there was confusion from beginners about needing to rename the unzipped folder before moving into the arduino ide. this library has been prepped (thijse) for the arduino library manager, which requires the library to be in the root directory. Having the library in the manager also removes the "beginner user hash" concern.
81 lines
3.4 KiB
C++
81 lines
3.4 KiB
C++
#ifndef PID_v1_h
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#define PID_v1_h
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#define LIBRARY_VERSION 1.1.1
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class PID
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{
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public:
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//Constants used in some of the functions below
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#define AUTOMATIC 1
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#define MANUAL 0
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#define DIRECT 0
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#define REVERSE 1
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//commonly used functions **************************************************************************
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PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
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double, double, double, int); // Setpoint. Initial tuning parameters are also set here
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void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
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bool Compute(); // * performs the PID calculation. it should be
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// called every time loop() cycles. ON/OFF and
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// calculation frequency can be set using SetMode
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// SetSampleTime respectively
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void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
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//it's likely the user will want to change this depending on
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//the application
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//available but not commonly used functions ********************************************************
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void SetTunings(double, double, // * While most users will set the tunings once in the
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double); // constructor, this function gives the user the option
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// of changing tunings during runtime for Adaptive control
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void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
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// means the output will increase when error is positive. REVERSE
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// means the opposite. it's very unlikely that this will be needed
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// once it is set in the constructor.
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void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
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// the PID calculation is performed. default is 100
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//Display functions ****************************************************************
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double GetKp(); // These functions query the pid for interal values.
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double GetKi(); // they were created mainly for the pid front-end,
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double GetKd(); // where it's important to know what is actually
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int GetMode(); // inside the PID.
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int GetDirection(); //
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private:
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void Initialize();
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double dispKp; // * we'll hold on to the tuning parameters in user-entered
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double dispKi; // format for display purposes
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double dispKd; //
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double kp; // * (P)roportional Tuning Parameter
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double ki; // * (I)ntegral Tuning Parameter
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double kd; // * (D)erivative Tuning Parameter
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int controllerDirection;
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double *myInput; // * Pointers to the Input, Output, and Setpoint variables
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double *myOutput; // This creates a hard link between the variables and the
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double *mySetpoint; // PID, freeing the user from having to constantly tell us
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// what these values are. with pointers we'll just know.
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unsigned long lastTime;
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double ITerm, lastInput;
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unsigned long SampleTime;
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double outMin, outMax;
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bool inAuto;
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};
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#endif
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