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90 lines (66 loc) · 3.9 KBRaw1234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465666768697071727374757677787980818283848586878889#ifndef PID_v1_h#define PID_v1_h#define LIBRARY_VERSION 1.2.1 class PID{ public: //Constants used in some of the functions below #define AUTOMATIC 1 #define MANUAL 0 #define DIRECT 0 #define REVERSE 1 #define P_ON_M 0 #define P_ON_E 1 //commonly used functions ************************************************************************** PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here. // (overload for specifying proportional mode) PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and double, double, double, int); // Setpoint. Initial tuning parameters are also set here void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0) bool Compute(); // * performs the PID calculation. it should be // called every time loop() cycles. ON/OFF and // calculation frequency can be set using SetMode // SetSampleTime respectively void SetOutputLimits(double, double); // * clamps the output to a specific range. 0-255 by default, but // it's likely the user will want to change this depending on // the application //available but not commonly used functions ******************************************************** void SetTunings(double, double, // * While most users will set the tunings once in the double); // constructor, this function gives the user the option // of changing tunings during runtime for Adaptive control void SetTunings(double, double, // * overload for specifying proportional mode double, int); void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT // means the output will increase when error is positive. REVERSE // means the opposite. it's very unlikely that this will be needed // once it is set in the constructor. void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which // the PID calculation is performed. default is 100 //Display functions **************************************************************** double GetKp(); // These functions query the pid for interal values. double GetKi(); // they were created mainly for the pid front-end, double GetKd(); // where it's important to know what is actually int GetMode(); // inside the PID. int GetDirection(); // private: void Initialize(); double dispKp; // * we'll hold on to the tuning parameters in user-entered double dispKi; // format for display purposes double dispKd; // double kp; // * (P)roportional Tuning Parameter double ki; // * (I)ntegral Tuning Parameter double kd; // * (D)erivative Tuning Parameter int controllerDirection; int pOn; double *myInput; // * Pointers to the Input, Output, and Setpoint variables double *myOutput; // This creates a hard link between the variables and the double *mySetpoint; // PID, freeing the user from having to constantly tell us // what these values are. with pointers we'll just know. unsigned long lastTime; double outputSum, lastInput; unsigned long SampleTime; double outMin, outMax; bool inAuto, pOnE;};#endif You can’t perform that action at this time.