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PID_v1.h
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PID_v1.h
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#ifndef PID_v1_h
#define PID_v1_h
#define LIBRARY_VERSION 1.1.1
#include <Arduino.h>
#include "settings.h"
class PID {
public:
//Constants used in some of the functions below
#define AUTOMATIC 1
#define MANUAL 0
#define DIRECT 0
#define REVERSE 1
#define P_ON_M 0
#define P_ON_E 1
//commonly used functions **************************************************************************
PID();
void Create(float*, float*, float*, // * constructor. links the PID to the Input, Output, and
float, float, float, int, int); // Setpoint. Initial tuning parameters are also set here.
// (overload for specifying proportional mode)
void SetMode(int 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(float, float); // * 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(float, float, // * While most users will set the tunings once in the
float); // constructor, this function gives the user the option
// of changing tunings during runtime for Adaptive control
void SetTunings(float, float, // * overload for specifying proportional mode
float, int);
void SetControllerDirection(int); // * 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(unsigned long); // * sets the frequency, in Milliseconds, with which
// the PID calculation is performed. default is 100
//Display functions ****************************************************************
float GetKp(); // These functions query the pid for interal values.
float GetKi(); // they were created mainly for the pid front-end,
float GetKd(); // where it's important to know what is actually
int GetMode(); // inside the PID.
int GetDirection(); //
float GetInput();
float GetOutput();
float GetSetpoint();
void SetInput(float value);
void SetOutput(float value);
void SetSetpoint(float value);
private:
void Initialize();
float* myInput; // * Pointers to the Input, Output, and Setpoint variables
float* myOutput; // This creates a hard link between the variables and the
float* mySetpoint; // PID, freeing the user from having to constantly tell us
// what these values are. with pointers we'll just know.
float dispKp; // * we'll hold on to the tuning parameters in user-entered
float dispKi; // format for display purposes
float dispKd; //
float kp; // * (P)roportional Tuning Parameter
float ki; // * (I)ntegral Tuning Parameter
float kd; // * (D)erivative Tuning Parameter
int controllerDirection;
int pOn;
unsigned long lastTime;
float outputSum, lastInput;
unsigned long SampleTime;
float outMin, outMax;
bool inAuto, pOnE;
};
#endif