mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-10-03 18:09:02 -04:00
2.6 KiB
2.6 KiB
PID_RT
Arduino library for PID controller
Description
The PID_RT class allows the user to instantiate a PID controller.
Interface
Constructor
- PID_RT() minimal constructor.
- PID_RT(float sp, float Kp, float Ki, float Kd) constructor that sets minimal parameters to get started.
Core
- void reset() resets internals to startup.
- void setPoint(float sp) sets setPoint, that needs to be reached.
- float getSetPoint() read setPoint.
- bool compute(float input) does one iteration of the PID controller. Returns true after calculation. Returns false if not computed, either stop flag or not yet time to calculate.
- float getOutput() get the last calculated output value.
- bool setK(float Kp, float Ki, float Kd) Set the initial P I D parameters as a group.
Start Stop
- void start() // enable the PID controller to compute new output values.
- void stop() disable the PID controller compute().
- bool isRunning()
Additional parameters
- bool setInterval(uint32_t interval) set the interval between 2 compute() calls. Returns true if changed, otherwise false.
- uint32_t getInterval() read back setting
- void setOutputRange(float rmin, float rmax) tune the output range, default 0..100
- float getOutputMin() read back setting
- float getOutputMax() read back setting
- void setReverse(bool reverse) reverse behavior, seldom needed.
- bool getReverse() read back the setting.
- 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.
- void setPropOnInput() default.
- void setPropOnError() alternative.
- bool isPropOnInput() read back setting.
- bool isPropOnError() read back setting.
debugging calls
Might be obsolete in future.
- float getInput() read last input.
- float getLastError() read the last error.
- uint32_t getLastTime() read the last.
Operations
See examples.