PID_Autotuner.h

00001 /**
00002  * Based on https://github.com/br3ttb/Arduino-PID-AutoTune-Library
00003  */
00004 
00005 #ifndef _PID_AUTOTUNE_H
00006 #define _PID_AUTOTUNE_H
00007 
00008 #include <stdint.h>
00009 
00010 #include "Module.h"
00011 #include "TemperatureControl.h"
00012 #include "StreamOutput.h"
00013 
00014 class PID_Autotuner : public Module
00015 {
00016 public:
00017     PID_Autotuner();
00018     void     begin(TemperatureControl *, float, StreamOutput *, int cycles = 8);
00019     void     abort();
00020 
00021     void     on_module_loaded(void);
00022     uint32_t on_tick(uint32_t);
00023     void     on_idle(void *);
00024     void     on_gcode_received(void *);
00025 
00026 private:
00027     void finishUp();
00028 
00029     TemperatureControl *t;
00030     float target_temperature;
00031     StreamOutput *s;
00032 
00033     volatile bool tick;
00034 
00035     float *peaks;
00036     int requested_cycles;
00037     float noiseBand;
00038     unsigned long peak1, peak2;
00039     int sampleTime;
00040     int nLookBack;
00041     int lookBackCnt;
00042     int peakType;
00043     float *lastInputs;
00044     int peakCount;
00045     bool justchanged;
00046     float absMax, absMin;
00047     float oStep;
00048     int output;
00049     unsigned long tickCnt;
00050 };
00051 
00052 #endif /* _PID_AUTOTUNE_H */