118 lines
5.3 KiB
C++
118 lines
5.3 KiB
C++
#ifndef PID_v1_h
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#define PID_v1_h
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#define LIBRARY_VERSION 1.2.1
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enum modes : uint8_t {OFF, AUTOMATIC, MANUAL, OVERFLOW};
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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 DIRECT 0
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#define REVERSE 1
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#define P_ON_M 0
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#define P_ON_E 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, int);// Setpoint. Initial tuning parameters are also set here.
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// (overload for specifying proportional mode)
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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 Mode(int Mode); // * sets PID to either Manual or Auto
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int CycleMode();
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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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int ComputeTune();
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void OutputLimits(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 SetTunings(double, double, // * overload for specifying proportional mode
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double, int);
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void Direction(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 SampleTime(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 Kp(); // These functions query the pid for interal values.
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double Ki(); // they were created mainly for the pid front-end,
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double Kd(); // where it's important to know what is actually
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modes Mode(); // inside the PID.
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int Direction(); //
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// Auto Tune Public
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void Cancel(); // * Stops the AutoTune
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void SetOutputStep(double); // * how far above and below the starting value will the output step?
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double GetOutputStep(); //
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void LookbackSec(int); // * how far back are we looking to identify peaks
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int LookbackSec(); //
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void SetNoiseBand(double); // * the autotune will ignore signal chatter smaller than this value
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double GetNoiseBand(); // this should be acurately set
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double TunedKp(); // * once autotune is complete, these functions contain the
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double TunedKi(); // computed tuning parameters.
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double TunedKd();
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private:
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void Initialize();
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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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int pOn;
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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 outputSum, lastInput;
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unsigned long SampleTime;
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double outMin, outMax;
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bool inAuto, pOnE;
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modes OpMode;
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// Autotune stuff
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void FinishUp();
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bool isMax, isMin;
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double noise_band;
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bool autotune_running;
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unsigned long peak1, peak2;
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int sampleTime;
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int nLookBack;
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int peakType;
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double lastInputs[101];
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double peaks[10];
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int peakCount;
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bool atune_peak_change;
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double absMax, absMin;
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double oStep;
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double outputStart;
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double Ku, Pu;
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};
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#endif
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