Diff: PidController.h

Revision:

6:99403113343f

Parent:

5:1206105e20bd

diff -r 1206105e20bd -r 99403113343f PidController.h
--- a/PidController.h	Tue Oct 31 03:46:43 2017 +0000
+++ b/PidController.h	Mon May 07 05:15:19 2018 +0000
@@ -28,22 +28,14 @@
  * 
  * 
  *     
- 
- * @code
-#include "mbed.h"
-#include "PID.h"
-
- * @endcode
  */
 
-
-
 #ifndef PidController_H
 #define PidController_H
 #include "mbed.h"
 
 //-- Constants used in system
-const int RATE = 20;       //--(ms) Time that Calculate mehtod is being called       
+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
 
@@ -53,17 +45,15 @@
     public:
         // Public Methods
     
-        /** Constructor
-        *
-        */
-        PidController(char);
+        // 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.
+        * @return Returns If Controller is in Automatic then returns PID controlled signal. In manual returns the user SP.
         */
-        float Calculate(float SP, float PV, float ManualMV);
+        float Calculate(float SP, float PV);
         
         /** Update Internal Settings
         * @param Bias - Added to the PID Calculation
@@ -103,37 +93,37 @@
         */
         void EndDiag(void);
         
-        /** 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];
+        /** Check to see if the controller is collecting diagnostics data
+        * @param Data - Starting address of target recieve buffer (must be at least 25char long)
+        */
+        void GetDiagnosticsMessage(char *data);
         
     private:
         bool mode;
-        
         //-- For Diagnostics to GUI
         bool collectDiagnostics;
-        int elapsedTime;
+        uint16_t elapsedTime;
+        char diagMsg[28];
+        
+        //-- Settings
+        float bias;
+        float minLimit, maxLimit;
+        float K_p,K_i,K_d;
         
         //-- For PID Calculations
-        char diagChar;
-        float bias;
         float error;
-        float lastInput;
         float accumError;
-        float minLimit, maxLimit;
-        float K_p,K_i,K_d;
         float prevError;
-    };
+        
+        //-- Private Helper functions
+        void float_to_byte(char *data, float *val);
+        void int_to_byte(char *data, uint16_t val);
+        };
     
 #endif