Diff: PID.cpp

Revision:

2:b03de6191e60

Parent:

1:a36e49dac330

Child:

3:1a8e62899e55

--- a/PID.cpp	Fri Dec 01 11:11:13 2017 +0000
+++ b/PID.cpp	Sun Mar 04 15:16:39 2018 +0000
@@ -229,7 +229,7 @@
 
     //Pull in the input and setpoint, and scale them into percent span.
     float scaledPV = (processVariable_ - inMin_) / inSpan_;
-
+    
     if (scaledPV > 1.0) {
         scaledPV = 1.0;
     } else if (scaledPV < 0.0) {
@@ -237,6 +237,7 @@
     }
 
     float scaledSP = (setPoint_ - inMin_) / inSpan_;
+    
     if (scaledSP > 1.0) {
         scaledSP = 1;
     } else if (scaledSP < 0.0) {
@@ -244,24 +245,26 @@
     }
 
     float error = scaledSP - scaledPV;
+    
 
     //Check and see if the output is pegged at a limit and only
     //integrate if it is not. This is to prevent reset-windup.
     if (!(prevControllerOutput_ >= 1 && error > 0) && !(prevControllerOutput_ <= 0 && error < 0)) {
         accError_ += error;
+        
     }
 
     //Compute the current slope of the input signal.
     float dMeas = (scaledPV - prevProcessVariable_) / tSample_;
-
+    
     float scaledBias = 0.0;
-
     if (usingFeedForward) {
         scaledBias = (bias_ - outMin_) / outSpan_;
     }
 
     //Perform the PID calculation.
     controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas));
+    
 
     //Make sure the computed output is within output constraints.
     if (controllerOutput_ < 0.0) {
@@ -272,8 +275,25 @@
 
     //Remember this output for the windup check next time.
     prevControllerOutput_ = controllerOutput_;
+    
     //Remember the input for the derivative calculation next time.
     prevProcessVariable_  = scaledPV;
+    
+    //printf("processVariable_ %f\n\r", processVariable_);
+    //printf("ScaledPV %f\n\r", scaledPV);
+    //printf("setPoint_ %f\n\r", setPoint_);
+    //printf("scaledSP %f\n\r", scaledSP);
+    //printf("error %f\n\r", error);
+    //printf("accError_ %f\n\r", accError_);
+    //printf("tSample_ %f\n\r", tSample_);
+    //printf("dMeas %f\n\r", dMeas);
+    //printf("controller output %f \n\r", controllerOutput_);
+    //printf("Kc_ output %f \n\r", Kc_);
+    //printf("tauR_ output %f \n\r", tauR_);
+    //printf("tauD_ output %f \n\r", tauD_);
+    //printf("dMeas output %f \n\r", dMeas);
+    //printf("prevControllerOutput_ %f\n\r", prevControllerOutput_);
+    //printf("prevProcessVariable_ %f\n\r", prevProcessVariable_);
 
     //Scale the output from percent span back out to a real world number.
     return ((controllerOutput_ * outSpan_) + outMin_);