mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-10-03 18:09:02 -04:00
68 lines
2.6 KiB
Markdown
68 lines
2.6 KiB
Markdown
|
|
[](https://github.com/marketplace/actions/arduino_ci)
|
|
[](https://github.com/RobTillaart/PID_RT/blob/master/LICENSE)
|
|
[](https://github.com/RobTillaart/PID_RT/releases)
|
|
|
|
# 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.
|
|
|