PID
Fork of PID by
Diff: PID.cpp
- Revision:
- 0:7f9b4ca968ae
- Child:
- 1:4df4895863cd
diff -r 000000000000 -r 7f9b4ca968ae PID.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PID.cpp Thu Feb 18 04:25:52 2016 +0000 @@ -0,0 +1,69 @@ +#include "PID.h" + +PID::PID(float setKp, float setKi, float setKd, float setSampletime){ + + Kp = 0.0; + Ki = 0.0; + Kd = 0.0; + error[0] = 0.0; + error[1] = 0.0; + error[2] = 0.0; + output = 0.0; + reference = 0.0; + sampletime = 0.0; + Outputlimit_bool = false; + Inputlimit_bool = false; + outputLimits_H = 0.0; + outputLimits_L = 0.0; + inputLimits_H = 0.0; + inputLimits_L = 0.0; + feedbackvalue = 0.0; + + Kp = setKp; + Ki = setKi/setSampletime; + Kd = setKd*setSampletime; + sampletime = setSampletime; +} + +void PID::SetOutputLimits(float setoutputLimits_H, float setoutputLimits_L){ + Outputlimit_bool = true; + outputLimits_H = setoutputLimits_H; + outputLimits_L = setoutputLimits_L; +} + +void PID::SetInputLimits(float setinputLimits_H, float setinputLimits_L){ + Inputlimit_bool = true; + inputLimits_H = setinputLimits_H; + inputLimits_L = setinputLimits_L; +} + +void PID::Compute(float setreference, float setfeedbackvalue){ + + if(Inputlimit_bool == true){ + if( setreference >= inputLimits_H){ + reference = inputLimits_H; + }else if( setreference <= inputLimits_L){ + reference = inputLimits_L; + } + }else{ + reference = setreference; + } + + feedbackvalue = setfeedbackvalue; + + error[0] = reference - feedbackvalue; + output = output + ( Kp + Ki + Kd )*error[0] + ( -Kp - 2.0*Kd )*error[1] + Kd*error[2]; + error[2] = error[1]; + error[1] = error[0]; + + if(Outputlimit_bool == true){ + if( output >= outputLimits_H){ + output = outputLimits_H; + }else if( output <= outputLimits_L){ + output = outputLimits_L; + } + }else{ + output = output; + } + +} \ No newline at end of file