Gert Lauritsen / PID

*************************************************************** * Arduino PID Library - Version 1.1.1 * by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com * * This Library is licensed under a GPLv3 License ***************************************************************

Dependents:   TestPID

PID.h@0:f6efcf8146b1, 2017-06-02 (annotated)

Committer:
gert_lauritsen
Date:
Fri Jun 02 19:37:02 2017 +0000
Revision:
0:f6efcf8146b1
Testprogram for PID lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gert_lauritsen 0:f6efcf8146b1 1 #ifndef PID_h
gert_lauritsen 0:f6efcf8146b1 2 #define PID_h
gert_lauritsen 0:f6efcf8146b1 3 #define LIBRARY_VERSION 1.1.1
gert_lauritsen 0:f6efcf8146b1 4 #include "mbed.h"
gert_lauritsen 0:f6efcf8146b1 5 class PID
gert_lauritsen 0:f6efcf8146b1 6 {
gert_lauritsen 0:f6efcf8146b1 7
gert_lauritsen 0:f6efcf8146b1 8
gert_lauritsen 0:f6efcf8146b1 9 public:
gert_lauritsen 0:f6efcf8146b1 10
gert_lauritsen 0:f6efcf8146b1 11 //Constants used in some of the functions below
gert_lauritsen 0:f6efcf8146b1 12 #define AUTOMATIC 1
gert_lauritsen 0:f6efcf8146b1 13 #define MANUAL 0
gert_lauritsen 0:f6efcf8146b1 14 #define DIRECT 0
gert_lauritsen 0:f6efcf8146b1 15 #define REVERSE 1
gert_lauritsen 0:f6efcf8146b1 16
gert_lauritsen 0:f6efcf8146b1 17 //commonly used functions **************************************************************************
gert_lauritsen 0:f6efcf8146b1 18 PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
gert_lauritsen 0:f6efcf8146b1 19 double, double, double, int); // Setpoint. Initial tuning parameters are also set here
gert_lauritsen 0:f6efcf8146b1 20
gert_lauritsen 0:f6efcf8146b1 21 void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
gert_lauritsen 0:f6efcf8146b1 22
gert_lauritsen 0:f6efcf8146b1 23 bool Compute(); // * performs the PID calculation. it should be
gert_lauritsen 0:f6efcf8146b1 24 // called every time loop() cycles. ON/OFF and
gert_lauritsen 0:f6efcf8146b1 25 // calculation frequency can be set using SetMode
gert_lauritsen 0:f6efcf8146b1 26 // SetSampleTime respectively
gert_lauritsen 0:f6efcf8146b1 27
gert_lauritsen 0:f6efcf8146b1 28 void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
gert_lauritsen 0:f6efcf8146b1 29 //it's likely the user will want to change this depending on
gert_lauritsen 0:f6efcf8146b1 30 //the application
gert_lauritsen 0:f6efcf8146b1 31
gert_lauritsen 0:f6efcf8146b1 32
gert_lauritsen 0:f6efcf8146b1 33
gert_lauritsen 0:f6efcf8146b1 34 //available but not commonly used functions ********************************************************
gert_lauritsen 0:f6efcf8146b1 35 void SetTunings(double, double, // * While most users will set the tunings once in the
gert_lauritsen 0:f6efcf8146b1 36 double); // constructor, this function gives the user the option
gert_lauritsen 0:f6efcf8146b1 37 // of changing tunings during runtime for Adaptive control
gert_lauritsen 0:f6efcf8146b1 38 void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
gert_lauritsen 0:f6efcf8146b1 39 // means the output will increase when error is positive. REVERSE
gert_lauritsen 0:f6efcf8146b1 40 // means the opposite. it's very unlikely that this will be needed
gert_lauritsen 0:f6efcf8146b1 41 // once it is set in the constructor.
gert_lauritsen 0:f6efcf8146b1 42 void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
gert_lauritsen 0:f6efcf8146b1 43 // the PID calculation is performed. default is 100
gert_lauritsen 0:f6efcf8146b1 44
gert_lauritsen 0:f6efcf8146b1 45
gert_lauritsen 0:f6efcf8146b1 46
gert_lauritsen 0:f6efcf8146b1 47 //Display functions ****************************************************************
gert_lauritsen 0:f6efcf8146b1 48 double GetKp(); // These functions query the pid for interal values.
gert_lauritsen 0:f6efcf8146b1 49 double GetKi(); // they were created mainly for the pid front-end,
gert_lauritsen 0:f6efcf8146b1 50 double GetKd(); // where it's important to know what is actually
gert_lauritsen 0:f6efcf8146b1 51 int GetMode(); // inside the PID.
gert_lauritsen 0:f6efcf8146b1 52 int GetDirection(); //
gert_lauritsen 0:f6efcf8146b1 53
gert_lauritsen 0:f6efcf8146b1 54 private:
gert_lauritsen 0:f6efcf8146b1 55 void Initialize();
gert_lauritsen 0:f6efcf8146b1 56 Ticker Timer;
gert_lauritsen 0:f6efcf8146b1 57 unsigned long millis;
gert_lauritsen 0:f6efcf8146b1 58 double dispKp; // * we'll hold on to the tuning parameters in user-entered
gert_lauritsen 0:f6efcf8146b1 59 double dispKi; // format for display purposes
gert_lauritsen 0:f6efcf8146b1 60 double dispKd; //
gert_lauritsen 0:f6efcf8146b1 61
gert_lauritsen 0:f6efcf8146b1 62 double kp; // * (P)roportional Tuning Parameter
gert_lauritsen 0:f6efcf8146b1 63 double ki; // * (I)ntegral Tuning Parameter
gert_lauritsen 0:f6efcf8146b1 64 double kd; // * (D)erivative Tuning Parameter
gert_lauritsen 0:f6efcf8146b1 65
gert_lauritsen 0:f6efcf8146b1 66 int controllerDirection;
gert_lauritsen 0:f6efcf8146b1 67
gert_lauritsen 0:f6efcf8146b1 68 double *myInput; // * Pointers to the Input, Output, and Setpoint variables
gert_lauritsen 0:f6efcf8146b1 69 double *myOutput; // This creates a hard link between the variables and the
gert_lauritsen 0:f6efcf8146b1 70 double *mySetpoint; // PID, freeing the user from having to constantly tell us
gert_lauritsen 0:f6efcf8146b1 71 // what these values are. with pointers we'll just know.
gert_lauritsen 0:f6efcf8146b1 72
gert_lauritsen 0:f6efcf8146b1 73 unsigned long lastTime;
gert_lauritsen 0:f6efcf8146b1 74 double ITerm, lastInput;
gert_lauritsen 0:f6efcf8146b1 75
gert_lauritsen 0:f6efcf8146b1 76 unsigned long SampleTime;
gert_lauritsen 0:f6efcf8146b1 77 double outMin, outMax;
gert_lauritsen 0:f6efcf8146b1 78 bool inAuto;
gert_lauritsen 0:f6efcf8146b1 79 void GeneralTimer();
gert_lauritsen 0:f6efcf8146b1 80 };
gert_lauritsen 0:f6efcf8146b1 81 #endif
gert_lauritsen 0:f6efcf8146b1 82