Diff: PidController.h

Revision:

4:b590bd8fec6f

Parent:

3:c169d08a9d0b

Child:

5:1206105e20bd

--- a/PidController.h	Wed Sep 06 23:45:40 2017 +0000
+++ b/PidController.h	Wed Oct 04 01:13:49 2017 +0000
@@ -36,10 +36,12 @@
  * @endcode
  */
 
-#include "mbed.h"
+
 
 #ifndef PidController_H
 #define PidController_H
+#include "mbed.h"
+#include "math.h"
 
 //-- Constants used in system
 const int RATE = 100;       //--(ms) Time that Calculate mehtod is being called       
@@ -55,16 +57,16 @@
         /** Constructor
         *
         */
-        PidController();
+        PidController(bool);
         
         /** Performs the PID Calculation
         * @param SP - Setpoint (target value) units depends on what PID is controlling
         * @param PV - Process Variable (feedback/ measure value) units depends on what PID is controlling
         * @return Returns If Controller is in Automatic then returns PID controlled signal. In manual returns the user SP multipled by scalar.
         */
-        int Calculate(float SP, float PV);
+        int Calculate(float SP, float PV, float ManualMV);
         
-        /** Update Internal Seetings
+        /** Update Internal Settings
         * @param Bias - Added to the PID Calculation
         * @param PropGain - Proportional Gain
         * @param IntGain - Integral Gain
@@ -75,6 +77,12 @@
         */    
         void UpdateSettings(float Bias, float PropGain, float IntGain, float DiffGain, float OutputMin, float OutputMax, float OutputScale);
         
+        /** Update Internal Settings
+        * @param OutputMin - Minimum Limit for the Output (units are same as setpoint)
+        * @param OutputMax - Maximum Limit for the Output (units are same as setpoint)
+        */    
+        void UpdateSettings(float OutputMin, float OutputMax);
+        
         /** Get the controller mode
         * @return 1 = AUTOMATIC, 0 = MANUAL(User has direct contol on output).
         */
@@ -118,9 +126,10 @@
         int elapsedTime;
         
         //-- For PID Calculations
+        bool squareRootOuptut;
         float bias, scalar;
         float error;
-        float lastError;
+        float lastInput;
         float accumError;
         float minLimit, maxLimit;
         float K_p,K_i,K_d;