108 lines
4.4 KiB
C++
108 lines
4.4 KiB
C++
#ifndef PID_v1_h
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#define PID_v1_h
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#define LIBRARY_VERSION 1.2.1
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#include <MovingAverageFilter.h>
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class PID
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{
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public:
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//Constants used in some of the functions below
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#define AUTOMATIC 1
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#define MANUAL 0
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#define DIRECT 0
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#define REVERSE 1
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#define P_ON_M 0
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#define P_ON_E 1
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//commonly used functions **************************************************************************
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PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
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double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here.
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// (overload for specifying proportional mode)
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PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
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double, double, double, int); // Setpoint. Initial tuning parameters are also set here
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void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
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bool Compute(); // * performs the PID calculation. it should be
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// called every time loop() cycles. ON/OFF and
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// calculation frequency can be set using SetMode
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// SetSampleTime respectively
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void SetOutputLimits(double, double); // * clamps the output to a specific range. 0-255 by default, but
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// it's likely the user will want to change this depending on
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// the application
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//available but not commonly used functions ********************************************************
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void SetTunings(double, double, // * While most users will set the tunings once in the
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double); // constructor, this function gives the user the option
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// of changing tunings during runtime for Adaptive control
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void SetTunings(double, double, // * overload for specifying proportional mode
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double, int);
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void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
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// means the output will increase when error is positive. REVERSE
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// means the opposite. it's very unlikely that this will be needed
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// once it is set in the constructor.
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void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
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// the PID calculation is performed. default is 100
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void SetDerivativeLag(double val){
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kd_lagpam = val;
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}
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void setAngleWrap(bool a){
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angleWrap = a;
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}
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double getDerivative(){
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return filteredDerivative;
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}
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//Display functions ****************************************************************
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double GetKp(); // These functions query the pid for interal values.
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double GetKi(); // they were created mainly for the pid front-end,
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double GetKd(); // where it's important to know what is actually
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int GetMode(); // inside the PID.
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int GetDirection(); //
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private:
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MovingAverageFilter maf =MovingAverageFilter(20);
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void Initialize();
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double dispKp; // * we'll hold on to the tuning parameters in user-entered
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double dispKi; // format for display purposes
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double dispKd; //
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double kp; // * (P)roportional Tuning Parameter
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double ki; // * (I)ntegral Tuning Parameter
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double kd; // * (D)erivative Tuning Parameter
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double filteredDerivative;
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double kd_lagpam = 1; //* 0.15 to 0.35
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int controllerDirection;
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int pOn;
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double *myInput; // * Pointers to the Input, Output, and Setpoint variables
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double *myOutput; // This creates a hard link between the variables and the
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double *mySetpoint; // PID, freeing the user from having to constantly tell us
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// what these values are. with pointers we'll just know.
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unsigned long lastTime;
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double outputSum, lastInput;
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unsigned long SampleTime;
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double outMin, outMax;
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bool inAuto, pOnE, angleWrap;
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};
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#endif
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