This is a copy of the Reference Standard PID controller ala controlguru.com
Fork of PID by
PID.h
- Committer:
- arnaudsuire
- Date:
- 2014-02-26
- Revision:
- 0:d58c1b8d63d9
- Child:
- 1:117e0c36eb22
File content as of revision 0:d58c1b8d63d9:
#pragma once #ifndef PID_H #define PID_H class PID { public: /* * Constructeur * Sets default limits, calculates tuning parameters, and sets manual mode with no bias. * @param Kc - Tuning parameter * @param tauI - Tuning parameter * @param tauD - Tuning parameter * @param interval PID calculation performed every interval seconds. */ PID(float Kc, float tauI, float tauD, float interval); /* * Scale from inputs to 0-100%. * @param InMin The real world value corresponding to 0%. * @param InMax The real world value corresponding to 100%. */ void setInputLimits(float inMin, float inMax); /* * Scale from outputs to 0-100%. * @param outMin The real world value corresponding to 0%. * @param outMax The real world value corresponding to 100%. */ void setOutputLimits(float outMin, float outMax); /* * Calculate PID constants. * Allows parameters to be changed on the fly without ruining calculations. * @param Kc - Tuning parameter * @param tauI - Tuning parameter * @param tauD - Tuning parameter */ void setTunings(float Kc, float tauI, float tauD); /* * Reinitializes controller internals. Automatically * called on a manual to auto transition. */ void reset(void); /* * Set how fast the PID loop is run. * @param interval PID calculation peformed every interval seconds. */ void setInterval(float interval); /* * Set the bias. * @param bias The bias for the controller output. */ void setBias(float bias); /* * PID calculation. * @return The controller output as a float between outMin and outMax. */ float compute(float pv, float sp); //Getters. float getInMin(); float getInMax(); float getOutMin(); float getOutMax(); float getInterval(); float getPParam(); float getIParam(); float getDParam(); private: bool usingFeedForward; //Actual tuning parameters used in PID calculation. float Kc_; float tauR_; float tauD_; //Raw tuning parameters. float pParam_; float iParam_; float dParam_; //The point we want to reach. float setPoint_; //The thing we measure. float processVariable_; float prevProcessVariable_; //The output that affects the process variable. float controllerOutput_; float prevControllerOutput_; //We work in % for calculations so these will scale from //real world values to 0-100% and back again. float inMin_; float inMax_; float inSpan_; float outMin_; float outMax_; float outSpan_; //The accumulated error, i.e. integral. float accError_; //The controller output bias. float bias_; //The interval between samples. float tSample_; //Controller output as a real world value. volatile float realOutput_; }; #endif