Chun Feng Huang / PID

New PID library with digital anti-windup and process control

Fork of PID_modified by Chun Feng Huang

Diff: PID.cpp

Revision:
5:016c99bb877f
Parent:
4:e3c9cb64be44
Child:
6:0d1e877c7f60
--- a/PID.cpp	Wed Oct 26 17:56:01 2016 +0000
+++ b/PID.cpp	Thu Dec 15 20:13:52 2016 +0000
@@ -142,6 +142,10 @@
     */
             
 }
+
+// Use separately
+// Compute_noWindUP() -- [ Saturation_output(): optional, can be replaced by customized saturation function ] -- Anti_windup(delta) -- output
+//////////////////////////////////////////////////
 void PID::Saturation_output(){
         if( output >= outputLimits_H){
             delta_output = outputLimits_H - output;
@@ -156,4 +160,16 @@
 void PID::Anti_windup(float delta){ // delta_V = Vs - V
     // Anti-windup compensation
     error_I += Ka*delta; // Anti-windup
-}
\ No newline at end of file
+}
+////////////////////////////////////////////////// end Use separately
+
+// Use alone
+// Compute_noWindUP() -- Anti_windup() -- output
+//////////////////////////////////////////////////
+void PID::Anti_windup(){ // delta_V = Vs - V
+
+    PID::Saturation_output();
+    // Anti-windup compensation
+    error_I += Ka*PID::delta_output; // Anti-windup
+}
+////////////////////////////////////////////////// end Use alone
\ No newline at end of file