191 lines
6.9 KiB
C++
191 lines
6.9 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 ControllerDirection)
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{
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Output = Output_;
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Input = Input_;
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Setpoint = 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);
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lastTime = millis()-SampleTime;
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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;
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unsigned long now = millis();
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int 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 error = *Setpoint - *Input;
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if(angleWrap){
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if(error > 180) error = error - 360;
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else if(error < -180) error = error + 360;
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}
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ITerm+= (ki * error);
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if(ITerm > outMax) ITerm= outMax;
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else if(ITerm < outMin) ITerm= outMin;
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double dInput = (*Input - lastInput);
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if(angleWrap){
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if(dInput > 180) dInput = dInput - 360;
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else if(dInput < -180) dInput = dInput + 360;
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}
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/*Compute PID Output*/
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*Output = kp * error + ITerm- kd * dInput;
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if(*Output > outMax) *Output = outMax;
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else if(*Output < outMin) *Output = outMin;
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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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}
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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)
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{
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if (Kp<0 || Ki<0|| Kd<0) return;
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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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/* 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(*Output > outMax) *Output = outMax;
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else if(*Output < outMin) *Output = outMin;
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if(ITerm > outMax) ITerm= outMax;
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else if(ITerm < outMin) ITerm= outMin;
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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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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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lastInput = *Input;
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ITerm = *Output;
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if(ITerm > outMax) ITerm= outMax;
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else if(ITerm < outMin) ITerm= 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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controllerDirection = Direction;
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}
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void PID::setAngleWrap(bool val){
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angleWrap = val;
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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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