Diff: PID.h

Revision:

5:f1613df66ceb

Parent:

4:208f5279143a

Child:

6:477382219bcf

--- a/PID.h	Sat Mar 23 19:46:09 2019 +0000
+++ b/PID.h	Mon Mar 25 22:42:31 2019 +0000
@@ -3,8 +3,8 @@
     private:
     float Kp_, Ki_, Kd_, Ts, PrevErr, PrevPrevErr, prevControlAction, setPoint;
     
-    float inMin_;
-    float inMax_;
+    float* inMin_;
+    float* inMax_;
     
     float outMin_;
     float outMax_;
@@ -17,8 +17,6 @@
         prevControlAction = 0;
         setPoint = 0;
         
-        inMin_ = -3.3f;
-        inMax_ = 3.3f;
         outMin_ = -1.0f;
         outMax_ = 1.0f;
         
@@ -30,23 +28,24 @@
     
     float compute (float currVal)
     {
-    if (currVal > 
     float currErr = setPoint - (currVal);
     float controlAction;
     
-    if (currErr > inMax_) {currErr = inMax_;}
-    if (currErr < inMin_) {currErr = inMin_;}
+    if (currVal > *inMax_) {*inMax_ = currVal;}
+    if (currVal < *inMin_) {*inMin_ = currVal;}
+    
+    
     
     controlAction = prevControlAction - (PrevErr*Kp_) + (Kp_*currErr)+ (Ki_*Ts*currErr) + ((Kd_/Ts)*(currErr - PrevErr - PrevErr + PrevPrevErr));
     
-    if (controlAction > inMax_) {controlAction = inMax_;}
-    if (controlAction < inMin_) {controlAction = inMin_;} 
+    if (controlAction > *inMax_) {controlAction = *inMax_;}
+    if (controlAction < *inMin_) {controlAction = *inMin_;} 
    
     prevControlAction = controlAction;
     PrevPrevErr = PrevErr;
     PrevErr = currErr;
     //scale the control Action to the correct output limits and output
-    return ((((controlAction)- inMin_)/(inMax_ - inMin_)) * (outMax_ - outMin_)) + outMin_;
+    return ((((controlAction)- *inMin_)/(*inMax_ - *inMin_)) * (outMax_ - outMin_)) + outMin_;
     }
     
     void setSetPoint(float _sP)
@@ -62,16 +61,15 @@
         outMax_ = outMax;
     }
     
-    void setInputLimits(float inMin,float inMax)
+    void assignLimitAddress(float *inMax, float *inMin)
     {
-        if (inMin > inMax) {return;}
-        //scales the previous errors and control action to correct input limits
-        PrevPrevErr = scaler(inMin_,inMax_,inMin,inMax,PrevPrevErr);
-        PrevErr = scaler(inMin_,inMax_,inMin,inMax,PrevErr);
-        prevControlAction = scaler(inMin_,inMax_,inMin,inMax,prevControlAction);
-        
+        inMax_ = inMax; 
         inMin_ = inMin;
-        inMax_ = inMax;
+    }
+    
+    float returnInMax() 
+    {
+        return  *inMax_;
     }
     
     float scaler(float prevMin, float prevMax, float newMin, float newMax, float var)
@@ -86,11 +84,6 @@
         return   prevControlAction;
     }
     
-    float returnInMax()
-    {
-        return inMax_;   
-    }
-    
 };
 
 //(((temp-inMin)/(inMax - inMin))*(outMax-outMin))+outMin
\ No newline at end of file