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first publish
PID.h
- Committer:
- roger_wee
- Date:
- 2017-05-15
- Revision:
- 0:ce3ac53af6e4
- Child:
- 2:359f1f075c72
File content as of revision 0:ce3ac53af6e4:
#include "mbed.h" #ifndef PID_H_ #define PID_H_ class PID { public: //Constants used in some of the functions below #define AUTOMATIC 1 #define MANUAL 0 #define DIRECT 0 #define REVERSE 1 //commonly used functions ************************************************************************** PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and double, double, double, int); // Setpoint. Initial tuning parameters are also set here 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 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; 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. unsigned long lastTime; double ITerm, lastInput; unsigned long SampleTime; double outMin, outMax; bool inAuto; Timer t; }; #endif