Felipe dos Santos Neves
my version
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PID
by 
Aaron Berk
PID Class Reference
Proportional-integral-derivative controller. More...
#include <PID.h>
Public Member Functions | |
| PID (float Kc, float tauI, float tauD, float interval) | |
| Constructor. | |
| void | setInputLimits (float inMin, float inMax) |
| Scale from inputs to 0-100%. | |
| void | setOutputLimits (float outMin, float outMax) |
| Scale from outputs to 0-100%. | |
| void | setTunings (float Kc, float tauI, float tauD) |
| Calculate PID constants. | |
| void | reset (void) |
| Reinitializes controller internals. | |
| void | setMode (int mode) |
| Set PID to manual or auto mode. | |
| void | setInterval (float interval) |
| Set how fast the PID loop is run. | |
| void | setSetPoint (float sp) |
| Set the set point. | |
| void | setProcessValue (float pv) |
| Set the process value. | |
| void | setBias (float bias) |
| Set the bias. | |
| float | compute (void) |
| PID calculation. | |
Detailed Description
Proportional-integral-derivative controller.
Definition at line 64 of file PID.h.
Constructor & Destructor Documentation
| PID | ( | float | Kc, |
| float | tauI, | ||
| float | tauD, | ||
| float | interval | ||
| ) |
Constructor.
Includes.
Sets default limits [0-3.3V], calculates tuning parameters, and sets manual mode with no bias.
- Parameters:
-
Kc - Tuning parameter tauI - Tuning parameter tauD - Tuning parameter interval PID calculation performed every interval seconds.
LICENSE
Copyright (c) 2010 ARM Limited
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.
DESCRIPTION
A PID controller is a widely used feedback controller commonly found in industry.
This library is a port of Brett Beauregard's Arduino PID library:
http://www.arduino.cc/playground/Code/PIDLibrary
The wikipedia article on PID controllers is a good place to start on understanding how they work:
http://en.wikipedia.org/wiki/PID_controller
For a clear and elegant explanation of how to implement and tune a controller, the controlguru website by Douglas J. Cooper (who also happened to be Brett's controls professor) is an excellent reference:
Member Function Documentation
| float compute | ( | void | ) |
| void reset | ( | void | ) |
| void setBias | ( | float | bias ) |
| void setInputLimits | ( | float | inMin, |
| float | inMax | ||
| ) |
| void setInterval | ( | float | interval ) |
| void setMode | ( | int | mode ) |
| void setOutputLimits | ( | float | outMin, |
| float | outMax | ||
| ) |
| void setProcessValue | ( | float | pv ) |
| void setSetPoint | ( | float | sp ) |
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