238 lines
8.5 KiB
C++
238 lines
8.5 KiB
C++
/**********************************************************************************************
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* Arduino PID Library - Version 1.2.1
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* by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com
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*
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* This Library is licensed under the MIT License
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**********************************************************************************************/
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#if ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include "PID_v2.h"
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/*Constructor (...)*********************************************************
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* The parameters specified here are those for for which we can't set up
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* reliable defaults, so we need to have the user set them.
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***************************************************************************/
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PID::PID(double* Input, double* Output, double* Setpoint,
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double Kp, double Ki, double Kd, int POn, int ControllerDirection)
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{
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myOutput = Output;
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myInput = Input;
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mySetpoint = Setpoint;
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inAuto = false;
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PID::SetOutputLimits(0, 255); //default output limit corresponds to
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//the arduino pwm limits
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SampleTime = 100; //default Controller Sample Time is 0.1 seconds
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PID::SetControllerDirection(ControllerDirection);
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PID::SetTunings(Kp, Ki, Kd, POn);
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lastTime = millis()-SampleTime;
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}
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/*Constructor (...)*********************************************************
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* To allow backwards compatability for v1.1, or for people that just want
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* to use Proportional on Error without explicitly saying so
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***************************************************************************/
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PID::PID(double* Input, double* Output, double* Setpoint,
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double Kp, double Ki, double Kd, int ControllerDirection)
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:PID::PID(Input, Output, Setpoint, Kp, Ki, Kd, P_ON_E, ControllerDirection)
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{
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}
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/* Compute() **********************************************************************
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* This, as they say, is where the magic happens. this function should be called
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* every time "void loop()" executes. the function will decide for itself whether a new
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* pid Output needs to be computed. returns true when the output is computed,
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* false when nothing has been done.
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**********************************************************************************/
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bool PID::Compute()
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{
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if(!inAuto) return false;
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unsigned long now = millis();
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unsigned long timeChange = (now - lastTime);
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if(timeChange>=SampleTime)
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{
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/*Compute all the working error variables*/
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double input = *myInput;
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double error = *mySetpoint - input;
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if(angleWrap){
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if(error < -179) error += 360;
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if(error > 180) error -= 360;
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}
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double dInput = (input - lastInput);
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outputSum+= (ki * error);
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/*Add Proportional on Measurement, if P_ON_M is specified*/
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if(!pOnE) outputSum-= kp * dInput;
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if(outputSum > outMax) outputSum= outMax;
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else if(outputSum < outMin) outputSum= outMin;
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/*Add Proportional on Error, if P_ON_E is specified*/
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double output;
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if(pOnE) output = kp * error;
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else output = 0;
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if(kd_lagpam <=1){
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/*Compute Rest of PID Output*/
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filteredDerivative =(1.0-kd_lagpam)*filteredDerivative
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+ (kd_lagpam)*dInput;
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}
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else{
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filteredDerivative = maf.process(dInput);
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}
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output += outputSum - kd * filteredDerivative;
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if(output > outMax) output = outMax;
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else if(output < outMin) output = outMin;
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*myOutput = output;
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/*Remember some variables for next time*/
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lastInput = input;
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lastTime = now;
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return true;
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}
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else return false;
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}
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/* SetTunings(...)*************************************************************
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* This function allows the controller's dynamic performance to be adjusted.
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* it's called automatically from the constructor, but tunings can also
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* be adjusted on the fly during normal operation
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******************************************************************************/
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void PID::SetTunings(double Kp, double Ki, double Kd, int POn)
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{
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if (Kp<0 || Ki<0 || Kd<0) return;
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pOn = POn;
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pOnE = POn == P_ON_E;
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dispKp = Kp; dispKi = Ki; dispKd = Kd;
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double SampleTimeInSec = ((double)SampleTime)/1000;
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kp = Kp;
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ki = Ki * SampleTimeInSec;
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kd = Kd / SampleTimeInSec;
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if(controllerDirection ==REVERSE)
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{
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kp = (0 - kp);
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ki = (0 - ki);
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kd = (0 - kd);
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}
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}
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/* SetTunings(...)*************************************************************
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* Set Tunings using the last-rembered POn setting
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******************************************************************************/
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void PID::SetTunings(double Kp, double Ki, double Kd){
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SetTunings(Kp, Ki, Kd, pOn);
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}
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/* SetSampleTime(...) *********************************************************
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* sets the period, in Milliseconds, at which the calculation is performed
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******************************************************************************/
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void PID::SetSampleTime(int NewSampleTime)
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{
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if (NewSampleTime > 0)
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{
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double ratio = (double)NewSampleTime
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/ (double)SampleTime;
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ki *= ratio;
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kd /= ratio;
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SampleTime = (unsigned long)NewSampleTime;
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}
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}
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/* SetOutputLimits(...)****************************************************
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* This function will be used far more often than SetInputLimits. while
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* the input to the controller will generally be in the 0-1023 range (which is
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* the default already,) the output will be a little different. maybe they'll
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* be doing a time window and will need 0-8000 or something. or maybe they'll
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* want to clamp it from 0-125. who knows. at any rate, that can all be done
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* here.
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**************************************************************************/
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void PID::SetOutputLimits(double Min, double Max)
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{
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if(Min >= Max) return;
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outMin = Min;
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outMax = Max;
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if(inAuto)
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{
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if(*myOutput > outMax) *myOutput = outMax;
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else if(*myOutput < outMin) *myOutput = outMin;
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if(outputSum > outMax) outputSum= outMax;
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else if(outputSum < outMin) outputSum= outMin;
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}
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}
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/* SetMode(...)****************************************************************
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* Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
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* when the transition from manual to auto occurs, the controller is
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* automatically initialized
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******************************************************************************/
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void PID::SetMode(int Mode)
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{
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bool newAuto = (Mode == AUTOMATIC);
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if(newAuto && !inAuto)
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{ /*we just went from manual to auto*/
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PID::Initialize();
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}
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inAuto = newAuto;
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}
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/* Initialize()****************************************************************
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* does all the things that need to happen to ensure a bumpless transfer
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* from manual to automatic mode.
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******************************************************************************/
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void PID::Initialize()
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{
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outputSum = *myOutput;
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lastInput = *myInput;
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if(outputSum > outMax) outputSum = outMax;
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else if(outputSum < outMin) outputSum = outMin;
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}
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/* SetControllerDirection(...)*************************************************
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* The PID will either be connected to a DIRECT acting process (+Output leads
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* to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
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* know which one, because otherwise we may increase the output when we should
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* be decreasing. This is called from the constructor.
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******************************************************************************/
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void PID::SetControllerDirection(int Direction)
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{
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if(inAuto && Direction !=controllerDirection)
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{
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kp = (0 - kp);
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ki = (0 - ki);
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kd = (0 - kd);
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}
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controllerDirection = Direction;
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}
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/* Status Funcions*************************************************************
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* Just because you set the Kp=-1 doesn't mean it actually happened. these
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* functions query the internal state of the PID. they're here for display
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* purposes. this are the functions the PID Front-end uses for example
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******************************************************************************/
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double PID::GetKp(){ return dispKp; }
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double PID::GetKi(){ return dispKi;}
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double PID::GetKd(){ return dispKd;}
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int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
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int PID::GetDirection(){ return controllerDirection;}
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