Diff: PidController.h

Revision:

2:dd64c2cf9066

Child:

3:c169d08a9d0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PidController.h	Tue Sep 05 05:18:52 2017 +0000
@@ -0,0 +1,135 @@
+/**
+ * @author James Batchelar
+ *
+ * @section LICENSE
+ *
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * PID Controller with Integral Clamping
+ * 
+ * 
+ *     
+ 
+ * @code
+#include "mbed.h"
+#include "PID.h"
+
+ * @endcode
+ */
+
+#include "mbed.h"
+
+#ifndef PidController_H
+#define PidController_H
+
+//-- Constants used in system
+const int RATE = 100;       //--(ms) Time that Calculate mehtod is being called       
+const int AUTOMATIC = 0;    //-- In automatic then PID Controls Output
+const int MANUAL = 1;       //-- In Manual then User Controls Output directly
+
+//-- Constructor 
+
+class PidController{
+    public:
+        // Public Methods
+    
+        /** Constructor
+        *
+        */
+        PidController();
+        
+        /** 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);
+        
+        /** Update Internal Seetings
+        * @param Bias - Added to the PID Calculation
+        * @param PropGain - Proportional Gain
+        * @param IntGain - Integral Gain
+        * @param DiffGain - Differential Gain
+        * @param OutputMin - Minimum Limit for the Output (units are same as setpoint)
+        * @param OutputMax - Maximum Limit for the Output (units are same as setpoint)
+        * @param OutputScale - Multiplier at End of PID loop to convert from engineering units to signal (eg PWM duty cycle)   
+        */    
+        void UpdateSettings(float Bias, float PropGain, float IntGain, float DiffGain, float OutputMin, float OutputMax, float OutputScale);
+        
+        /** Get the controller mode
+        * @return 1 = AUTOMATIC, 0 = MANUAL(User has direct contol on output).
+        */
+        int GetMode(void){return (int)mode;}
+        
+        /** Set the controller in Manual Mode (PID turned off SP is writted directly to output)
+        */
+        void SetManual(void){mode = MANUAL;}
+        
+        /** Set the controller in Automatic Mode (PID turned on)
+        */
+        void SetAutomatic(void){mode = AUTOMATIC;}
+        
+        /** Enable Diagnostics for HMI
+        */
+        void StartDiag(void);
+        
+        /** Disable Diagnostics for HMI
+        */
+        void EndDiag(void){collectDiagnostics = false;}
+        
+        /** Build a string to send back to HMI to Graph PID
+        */
+        void BuildDiagMessage(float SP, float PV, float PWM, float PropAction, float IntAction, float DifAction);
+        
+        /** Check to see if the controller is collecting diagnostics data
+        * @return true then a diagnostics message is been created.
+        */
+        bool DiagnosticsEnabled(void){return collectDiagnostics;}
+        
+        int GetElapsedtime(void){return elapsedTime;}
+        
+        // Made Public as im lazy
+        char diagMsg[65];
+        
+    private:
+        bool mode;
+        
+        //-- For Diagnostics to GUI
+        bool collectDiagnostics;
+        int elapsedTime;
+        
+        //-- For PID Calculations
+        float bias, scalar;
+        float error;
+        float lastError;
+        float accumError;
+        float minLimit, maxLimit;
+        float K_p,K_i,K_d;
+    };
+    
+#endif
+    
+    
+    
+
+
+