Diff: PID.h

Revision:

0:58f3a6c65ad5

Child:

2:60801ab3cbf9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h	Tue Aug 14 23:22:50 2018 +0000
@@ -0,0 +1,84 @@
+#ifndef PID_H
+#define PID_H
+ 
+#include "mbed.h"
+
+class PID 
+{ 
+public: 
+      #define AUTOMATIC 1
+      #define MANUAL    0
+      #define DIRECT  0
+      #define REVERSE  1
+      #define P_ON_M 0
+      #define P_ON_E 1
+    Timer PIDtimer;
+    PID(double* Input, double* Output, double* Setpoint,
+        double Kp, double Ki, double Kd, int POn, int ControllerDirection); 
+    void SetMode(int Mode);               // * sets PID to either Manual (0) or Auto (non-0)
+
+    bool Compute();                       // * performs the PID calculation.  it should be
+                                          //   called every time loop() cycles. ON/OFF and
+                                          //   calculation frequency can be set using SetMode
+                                          //   SetSampleTime respectively
+
+    void SetOutputLimits(double, double); // * clamps the output to a specific range. 0-255 by default, but
+                                                              //   it's likely the user will want to change this depending on
+                                                              //   the application
+    
+
+
+  //available but not commonly used functions ********************************************************
+    void SetTunings(double, double,       // * While most users will set the tunings once in the 
+                    double);                //   constructor, this function gives the user the option
+                                          //   of changing tunings during runtime for Adaptive control
+    void SetTunings(double, double,       // * overload for specifying proportional mode
+                    double, int);             
+
+    void SetControllerDirection(int);     // * Sets the Direction, or "Action" of the controller. DIRECT
+                                          //   means the output will increase when error is positive. REVERSE
+                                          //   means the opposite.  it's very unlikely that this will be needed
+                                          //   once it is set in the constructor.*/
+    void SetSampleTime(int);              // * sets the frequency, in Milliseconds, with which 
+                                          //   the PID calculation is performed.  default is 100
+                                          
+                                          
+
+                                          
+  //Display functions ****************************************************************
+    double GetKp();                       // These functions query the pid for interal values.
+    double GetKi();                       //  they were created mainly for the pid front-end,
+    double GetKd();                       // where it's important to know what is actually 
+    int GetMode();                        //  inside the PID.
+    int GetDirection();                   //
+
+  private:
+    void Initialize();
+    
+    double dispKp;              // * we'll hold on to the tuning parameters in user-entered 
+    double dispKi;              //   format for display purposes
+    double dispKd;              //
+    
+    double kp;                  // * (P)roportional Tuning Parameter
+    double ki;                  // * (I)ntegral Tuning Parameter
+    double kd;                  // * (D)erivative Tuning Parameter
+
+    int controllerDirection;
+    int pOn;
+
+    double *myInput;              // * Pointers to the Input, Output, and Setpoint variables
+    double *myOutput;             //   This creates a hard link between the variables and the 
+    double *mySetpoint;           //   PID, freeing the user from having to constantly tell us
+                                  //   what these values are.  with pointers we'll just know.
+              
+    double lastTime;
+    double outputSum, lastInput;
+
+    double SampleTime;
+    double outMin, outMax;
+    bool inAuto, pOnE;
+    
+};
+
+#endif
+