0.1.5 PID_RT

libraries/PID_RT/.arduino-ci.yml

@@ -1,3 +1,18 @@
+platforms:
+  rpipico:
+    board: rp2040:rp2040:rpipico
+    package: rp2040:rp2040
+    gcc:
+      features:
+      defines:
+        - ARDUINO_ARCH_RP2040
+      warnings:
+      flags:
+
+packages:
+  rp2040:rp2040:
+    url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
+
 compile:
   # Choosing to run compilation tests on 2 different Arduino platforms
   platforms:
@@ -9,3 +24,4 @@ compile:
     - esp32
     # - esp8266
     # - mega2560
+    - rpipico

libraries/PID_RT/CHANGELOG.md

@@ -0,0 +1,36 @@
+# Change Log PID_RT
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+
+## [0.1.5] - 2022-10-23
+- add RP2040 to build-CI
+- add changelog.md
+- minor edits readme.md
+
+
+## [0.1.4] - 2021-12-23
+- update library.json, license, 
+- minor edits
+
+## [0.1.3] - 2021-11-12
+- update build-CI, update readme
+- renamed variables for readability
+- added history
+- fixed bug in setK
+
+## [0.1.2] - 2021-05-28
+- minor edits
+
+## [0.1.1] - 2021-05-27
+- add json check
+- add lint check
+
+## [0.1.0] - 2020-12-15
+- update readme, fix unit test, 
+- fix library.json
+- add 2nd constructor
+

libraries/PID_RT/PID_RT.cpp

@@ -1,21 +1,9 @@
 //
-//    FILE: PID_RT.h
+//    FILE: PID_RT.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.1.4
+// VERSION: 0.1.5
 // PURPOSE: PID library for Arduino
 //     URL: https://github.com/RobTillaart/PID
-//
-//  HISTORY
-//  0.1.0  2020-12-15  update readme, fix unit test, 
-//                     fix library.json
-//                     add 2nd constructor
-//  0.1.1  2021-05-27  add json check, add lint check
-//  0.1.2  2021-05-28  minor edits
-//  0.1.3  2021-11-12  update build-CI, update readme
-//                     renamed variables for readability
-//                     added history
-//                     fixed bug in setK
-//  0.1.4  2021-12-23  update library.json, license, minor edits
 
 
 #include "PID_RT.h"
@@ -55,13 +43,13 @@ void PID_RT::reset()
   __Kd       = 0.0;
  _reverse    = false;
  _running    = false;
- _POI        = true;   // Proportional On Input - Error
+ _POI        = true;   //  Proportional On Input - Error
 }
 
 
 bool PID_RT::setK(float Kp, float Ki, float Kd)
 {
-  // prevent short-cut evaluation.
+  //  prevent short-cut evaluation.
   bool b = setKp(Kp);
   b = b && setKi(Ki);
   b = b && setKd(Kd);
@@ -83,7 +71,7 @@ bool PID_RT::setKi(float Ki)
 {
   if (Ki < 0) return false;
   _Ki = Ki;
-  __Ki = _Ki * _interval * 0.001;   // milliseconds.
+  __Ki = _Ki * _interval * 0.001;   //  milliseconds.
   if (_reverse) __Ki = - __Ki;
   return true;
 };
@@ -115,7 +103,7 @@ bool PID_RT::compute(float input)
   _error = _setPoint - _input;
   float dI = _lastInput - _input;
 
-  // P - proportional on input or proportional on error
+  //  P - proportional on input or proportional on error
   if (_POI == false)
   {
     _output  = __Kp * _error;
@@ -126,15 +114,15 @@ bool PID_RT::compute(float input)
     _errorSum += __Kp * dI;
   }
   
-  // I
+  //  I
   _errorSum += __Ki * _error;
   if (_errorSum > _rangeMax) _errorSum = _rangeMax;
   else if (_errorSum < _rangeMin) _errorSum = _rangeMin;
-  
-  // D
+
+  //  D
   _output += _errorSum + __Kd * dI;
 
-  // limit output to range
+  //  limit output to range
   if (_output > _rangeMax) _output = _rangeMax;
   else if (_output < _rangeMin) _output = _rangeMin;
 
@@ -148,7 +136,7 @@ bool PID_RT::setInterval(uint32_t interval)
   if (interval != _interval)
   {
     _interval = interval;
-    // recalculate __Ki and __Kd.
+    //  recalculate __Ki and __Kd.
     setKi(_Ki);
     setKd(_Kd);
     return true;
@@ -157,5 +145,5 @@ bool PID_RT::setInterval(uint32_t interval)
 }
 
 
-// -- END OF FILE -- 
+//  -- END OF FILE -- 
 

libraries/PID_RT/PID_RT.h

@@ -2,7 +2,7 @@
 //
 //    FILE: PID_RT.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.1.4
+// VERSION: 0.1.5
 // PURPOSE: PID library for Arduino
 //     URL: https://github.com/RobTillaart/PID_RT
 
@@ -10,7 +10,7 @@
 #include "Arduino.h"
 
 
-#define PID_LIB_VERSION               (F("0.1.4"))
+#define PID_LIB_VERSION               (F("0.1.5"))
 
 
 class PID_RT
@@ -19,58 +19,58 @@ public:
   PID_RT();
   PID_RT(float sp, float Kp, float Ki, float Kd);
 
-  void reset();
+  void     reset();
 
 
-  void  setPoint(float sp) { _setPoint = sp; };
-  float getSetPoint()      { return _setPoint; };
+  void     setPoint(float sp) { _setPoint = sp; };
+  float    getSetPoint()      { return _setPoint; };
 
 
-  bool  compute(float input);
-  float getOutput()        { return _output; };
+  bool     compute(float input);
+  float    getOutput()        { return _output; };
 
 
-  // set PID controller on / off
-  void start()     { _running = true; };
-  void stop()      { _running = false; };
-  bool isRunning() { return _running; };
+  //  set PID controller on / off
+  void     start()     { _running = true; };
+  void     stop()      { _running = false; };
+  bool     isRunning() { return _running; };
 
 
-  // reverse the behaviour (not implemented yet)
-  void setReverse(bool reverse) { _reverse = reverse; };
-  bool getReverse() { return _reverse; };
+  //  reverse the behaviour (not implemented yet)
+  void     setReverse(bool reverse) { _reverse = reverse; };
+  bool     getReverse() { return _reverse; };
 
 
-  // how often should one do the math
+  //  how often should one do the math
   bool     setInterval(uint32_t interval);
   uint32_t getInterval() { return _interval; };
 
 
-  // tune the output range, default 0..100
-  void setOutputRange(float rangeMin, float rangeMax) { _rangeMin = rangeMin; _rangeMax = rangeMax; };
-  float getOutputMin() { return _rangeMin; };
-  float getOutputMax() { return _rangeMax; };
+  //  tune the output range, default 0..100
+  void     setOutputRange(float rangeMin, float rangeMax) { _rangeMin = rangeMin; _rangeMax = rangeMax; };
+  float    getOutputMin() { return _rangeMin; };
+  float    getOutputMax() { return _rangeMax; };
 
 
-  // set the initial K values,
-  // runtime updates are allowed - at your own risk
-  bool  setK(float Kp, float Ki, float Kd);
-  bool  setKp(float Kp);
-  bool  setKi(float Ki);
-  bool  setKd(float Kd);
-  float getKp() { return _Kp; };
-  float getKi() { return _Ki; };
-  float getKd() { return _Kd; };
+  //  set the initial K values,
+  //  runtime updates are allowed - at your own risk
+  bool     setK(float Kp, float Ki, float Kd);
+  bool     setKp(float Kp);
+  bool     setKi(float Ki);
+  bool     setKd(float Kd);
+  float    getKp() { return _Kp; };
+  float    getKi() { return _Ki; };
+  float    getKd() { return _Kd; };
 
 
-  // set Proportional on Input or on Error
+  //  set Proportional on Input or on Error
   void setPropOnInput() { _POI = true; };      // default
   void setPropOnError() { _POI = false; };
   bool isPropOnInput()  { return _POI == true; };
   bool isPropOnError()  { return _POI == false; };
 
 
-  // debugging
+  //  debugging
   float getInput()       { return _input; };
   float getLastError()   { return _error; };
   uint32_t getLastTime() { return _lastTime; };
@@ -99,9 +99,9 @@ private:
 
   bool _reverse      = false;
   bool _running      = false;
-  bool _POI          = true;   // Proportional On Input - Error
+  bool _POI          = true;   //  Proportional On Input - Error
 };
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
 

libraries/PID_RT/README.md

@@ -44,7 +44,7 @@ Overwrites the values set in the constructor.
 - **bool isRunning()** return the enable/disable flag.
 
 
-### Additional parameters
+### Behaviour parameters
 
 - **bool setInterval(uint32_t interval)** set the interval between two **compute()** calls. 
 Returns **true** if changed, otherwise **false**.
@@ -54,12 +54,20 @@ Returns **true** if changed, otherwise **false**.
 - **float getOutputMax()** read back setting rangeMax.
 - **void setReverse(bool reverse)** reverse behaviour, seldom needed.
 - **bool getReverse()** read back the setting.
+
+
+### K-parameters
+
 - **bool setKp(float Kp)** runtime updates are allowed - at your own risk.
 - **bool setKi(float Ki)** runtime updates are allowed - at your own risk.
 - **bool setKd(float Kd)** runtime updates are allowed - at your own risk.
 - **float getKp()** read back setting.
 - **float getKi()** read back setting.
 - **float getKd()** read back setting.
+
+
+### Proportional
+
 - **void setPropOnInput()** this is default behaviour.
 - **void setPropOnError()** alternative.
 - **bool isPropOnInput()** read back setting.
@@ -83,8 +91,20 @@ See examples.
 
 ## Future
 
-- update documentation
+#### must
+
+- update / improve documentation
+- more testing
+
+#### should
+
 - add examples to test more
 - improve unit test
-- 
+- move all code to .cpp
+
+#### could
+
+- add reference to PID book / website?
+- investigate if it works as PI or P controller too.
+  - PI as derived or base class?
 

libraries/PID_RT/examples/PID_basic/PID_basic.ino

@@ -2,11 +2,10 @@
 //    FILE: PID_basic.ino
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo
-//    DATE: 2020-12-15
 //
-// connect an LED to the PWM pin
-// connect a potentiometer to A0
-// play :)
+//  connect an LED to the PWM pin
+//  connect a potentiometer to A0
+//  play :)
 
 
 #include "PID_RT.h"
@@ -15,7 +14,7 @@ PID_RT PID;
 
 const int PWM_PIN = 3;  // UNO PWM pin
 
-int op = 0;;
+int op = 0;
 float input = 0;
 
 

libraries/PID_RT/library.json

@@ -15,7 +15,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/PID_RT"
   },
-  "version": "0.1.4",
+  "version": "0.1.5",
   "license": "MIT",
   "frameworks": "arduino",
   "platforms": "*",

libraries/PID_RT/library.properties

@@ -1,5 +1,5 @@
 name=PID_RT
-version=0.1.4
+version=0.1.5
 author=Rob Tillaart <rob.tillaart@gmail.com>
 maintainer=Rob Tillaart <rob.tillaart@gmail.com>
 sentence=Arduino PID library