~gabe/flashlight-firmware/anduril2

#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(uint8_t 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