Diff: PID_v1.cpp

Revision:

1:45383b49536c

Parent:

0:539e3b3b91e1

--- a/PID_v1.cpp	Thu Aug 09 16:36:32 2018 +0000
+++ b/PID_v1.cpp	Fri Aug 17 20:46:39 2018 +0000
@@ -19,38 +19,24 @@
  *    The parameters specified here are those for for which we can't set up
  *    reliable defaults, so we need to have the user set them.
  ***************************************************************************/
-PID::PID(double* Input, double* Output, double* Setpoint,
-        double Kp, double Ki, double Kd, int POn, int ControllerDirection)
-{
+PID::PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, int POn, int ControllerDirection){
+    PIDtimer.start();
+    PIDtimer.reset();   
     myOutput = Output;
     myInput = Input;
     mySetpoint = Setpoint;
-    inAuto = false;
-	PIDtimer.start();
-    PID::SetOutputLimits(0, 1);	//default output limit corresponds to
-												//the arduino pwm limits
-
-    SampleTime = 100;							//default Controller Sample Time is 0.1 seconds
+    inAuto = true;
+    PID::SetOutputLimits(0, 1); //default output limit corresponds to
+                                                //the arduino pwm limits
+    SampleTime = .1;                           //default Controller Sample Time is 0.1 seconds
 
     PID::SetControllerDirection(ControllerDirection);
     PID::SetTunings(Kp, Ki, Kd, POn);
 
     lastTime = PIDtimer.read()-SampleTime;
-    printf("input %f output %f pOn %i Setpoint %f\n", *myInput, *myOutput, pOn, *mySetpoint);
-}
-
-/*Constructor (...)*********************************************************
- *    To allow backwards compatability for v1.1, or for people that just want
- *    to use Proportional on Error without explicitly saying so
- ***************************************************************************/
-
-PID::PID(double* Input, double* Output, double* Setpoint,
-        double Kp, double Ki, double Kd, int ControllerDirection)
-{
-PID::PID(Input, Output, Setpoint, Kp, Ki, Kd, P_ON_E, ControllerDirection);
-}
-
-
+ //       printf("the values are %f, %f, %f, %f, %f, %f \r\n", *myOutput, *myInput, *mySetpoint, kp, ki, kd);
+    }
+    
 /* Compute() **********************************************************************
  *     This, as they say, is where the magic happens.  this function should be called
  *   every time "void loop()" executes.  the function will decide for itself whether a new
@@ -59,10 +45,9 @@
  **********************************************************************************/
 bool PID::Compute()
 {
-   printf("input %f output %f pOn %i Setpoint %f outmin %f outmax %f \n", *myInput, *myOutput, pOn, *mySetpoint, outMin, outMax);
    if(!inAuto) return false;
-   unsigned long now = PIDtimer.read();
-   unsigned long timeChange = (now - lastTime);
+   double now = PIDtimer.read();
+   double timeChange = (now - lastTime);
    if(timeChange>=SampleTime)
    {
       /*Compute all the working error variables*/
@@ -70,31 +55,33 @@
       double error = *mySetpoint - input;
       double dInput = (input - lastInput);
       outputSum+= (ki * error);
-
+        
       /*Add Proportional on Measurement, if P_ON_M is specified*/
-      if(!pOnE) outputSum-= kp * dInput;
-
+      if(!pOnE) outputSum -= kp * dInput;
+      printf("outputSum = %f \r\n", outputSum);
       if(outputSum > outMax) outputSum= outMax;
       else if(outputSum < outMin) outputSum= outMin;
 
       /*Add Proportional on Error, if P_ON_E is specified*/
-	   double output;
+       double output;
       if(pOnE) output = kp * error;
       else output = 0;
-
       /*Compute Rest of PID Output*/
       output += outputSum - kd * dInput;
 
-	    if(output > outMax) output = outMax;
+        if(output > outMax) output = outMax;
       else if(output < outMin) output = outMin;
-	    *myOutput = output;
+        *myOutput = output;
 
       /*Remember some variables for next time*/
       lastInput = input;
       lastTime = now;
-	    return true;
+        return true;
    }
-   else return false;
+   else 
+   {
+       return false;
+    }
 }
 
 /* SetTunings(...)*************************************************************
@@ -162,11 +149,11 @@
 
    if(inAuto)
    {
-	   if(*myOutput > outMax) *myOutput = outMax;
-	   else if(*myOutput < outMin) *myOutput = outMin;
+       if(*myOutput > outMax) *myOutput = outMax;
+       else if(*myOutput < outMin) *myOutput = outMin;
 
-	   if(outputSum > outMax) outputSum= outMax;
-	   else if(outputSum < outMin) outputSum= outMin;
+       if(outputSum > outMax) outputSum= outMax;
+       else if(outputSum < outMin) outputSum= outMin;
    }
 }
 
@@ -186,7 +173,7 @@
 }
 
 /* Initialize()****************************************************************
- *	does all the things that need to happen to ensure a bumpless transfer
+ *  does all the things that need to happen to ensure a bumpless transfer
  *  from manual to automatic mode.
  ******************************************************************************/
 void PID::Initialize()
@@ -207,7 +194,7 @@
 {
    if(inAuto && Direction !=controllerDirection)
    {
-	    kp = (0 - kp);
+        kp = (0 - kp);
       ki = (0 - ki);
       kd = (0 - kd);
    }
@@ -223,10 +210,4 @@
 double PID::GetKi(){ return  dispKi;}
 double PID::GetKd(){ return  dispKd;}
 int PID::GetMode(){ return  inAuto ? AUTOMATIC : MANUAL;}
-int PID::GetDirection(){ return controllerDirection;}
-
-/*void printEverything() {
-	printf("input %f output %f pOn %f Setpoint %f outmin %f outmax %f \n", *myInput, *myOutput, pOn, *mySetpoint, outMin, outMax);
-	printf("KP %f KI %f Kd %f \n", PID::GetKp(), PID::GetKi(), PID::GetKd());
-	}
-*/
+int PID::GetDirection(){ return controllerDirection;}
\ No newline at end of file