82051d2d58
- used constness wherever possible - cleaner constructor with proper initialized variables - replaced defines (preprocessor) by const type to get better compiler-errors - inlined the display-functions --> typically found in the header - made the class uncopyable to get no strange undefined behavior if someone tries it - controllerDirection and Mode have been int-type, but char will suffice
88 lines
4.0 KiB
C++
88 lines
4.0 KiB
C++
#ifndef PID_v1_h
|
|
#define PID_v1_h
|
|
#define LIBRARY_VERSION 1.1.1
|
|
|
|
//Constants used in some of the functions below
|
|
const char AUTOMATIC {1}; // gives better compiler-errors than #defines
|
|
const char MANUAL {0};
|
|
const char DIRECT {0};
|
|
const char REVERSE {1};
|
|
|
|
class PID
|
|
{
|
|
|
|
public:
|
|
|
|
//commonly used functions **************************************************************************
|
|
PID( double* const, double* const, double* const, // * constructor. links the PID to the Input, Output, and
|
|
const double, const double, const double, const char); // Setpoint. Initial tuning parameters are also set here
|
|
|
|
void SetMode(const char Mode); // * sets PID to either Manual (0) or Auto (non-0)
|
|
|
|
bool Compute(); // * performs the PID calculation. it should be
|
|
// called every time loop() cycles. ON/OFF and
|
|
// calculation frequency can be set using SetMode
|
|
// SetSampleTime respectively
|
|
|
|
void SetOutputLimits(const double, const double); //clamps the output to a specific range. 0-255 by default, but
|
|
//it's likely the user will want to change this depending on
|
|
//the application
|
|
|
|
|
|
|
|
//available but not commonly used functions ********************************************************
|
|
void SetTunings(const double, const double, // * While most users will set the tunings once in the
|
|
const double); // constructor, this function gives the user the option
|
|
// of changing tunings during runtime for Adaptive control
|
|
void SetControllerDirection(const char); // * Sets the Direction, or "Action" of the controller. DIRECT
|
|
// 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 SetSampleTime(const int); // * sets the frequency, in Milliseconds, with which
|
|
// the PID calculation is performed. default is 100
|
|
|
|
|
|
|
|
//Display functions ****************************************************************
|
|
/* Just because you set the Kp=-1 doesn't mean it actually happened. these
|
|
* 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
|
|
******************************************************************************/
|
|
inline double GetKp() { return dispKp; };
|
|
inline double GetKi() { return dispKi;};
|
|
inline double GetKd() { return dispKd;};
|
|
inline char GetMode() { return inAuto ? AUTOMATIC : MANUAL;};
|
|
inline char GetDirection(){ return controllerDirection;};
|
|
|
|
|
|
private:
|
|
void Initialize();
|
|
|
|
PID(const PID&); // declaration only for copy constructor
|
|
PID& operator=(const PID&); // declaration only for copy assignment --> make it uncopyable
|
|
|
|
double dispKp; // * we'll hold on to the tuning parameters in user-entered
|
|
double dispKi; // format for display purposes
|
|
double dispKd; //
|
|
|
|
double kp; // * (P)roportional Tuning Parameter
|
|
double ki; // * (I)ntegral Tuning Parameter
|
|
double kd; // * (D)erivative Tuning Parameter
|
|
|
|
char controllerDirection;
|
|
|
|
double *myInput; // * Pointers to the Input, Output, and Setpoint variables
|
|
double *myOutput; // This creates a hard link between the variables and the
|
|
double *mySetpoint; // PID, freeing the user from having to constantly tell us
|
|
// what these values are. with pointers we'll just know.
|
|
|
|
unsigned long lastTime;
|
|
double ITerm, lastInput;
|
|
|
|
unsigned long SampleTime;
|
|
double outMin, outMax;
|
|
bool inAuto;
|
|
};
|
|
#endif
|
|
|