Revision 1:117e0c36eb22, committed 2016-01-25

Comitter:

unix_guru

Date:

Mon Jan 25 22:29:38 2016 +0000

Parent:

0:d58c1b8d63d9

Child:

2:55bf0f813bb4

Commit message:

Old Standard PID library from ControlGuru.com

Changed in this revision

--- a/PID.cpp	Wed Feb 26 08:46:04 2014 +0000
+++ b/PID.cpp	Mon Jan 25 22:29:38 2016 +0000
@@ -1,13 +1,12 @@
 /**
 * Includes
 */
-#include "stdafx.h"
 #include "PID.h"
 
 PID::PID(float Kc, float tauI, float tauD, float interval) {
 
     usingFeedForward = false;
-    //inAuto = false;
+    inAuto = false;
 
     //Default the limits to the full range of I/O.
     //Make sure to set these to more appropriate limits for your application.
@@ -135,7 +134,7 @@
     accError_ = 0;
 
 }
-/*
+
 void PID::setMode(int mode) {
 
     //We were in manual, and we just got set to auto.
@@ -146,7 +145,7 @@
 
     inAuto = (mode != 0);
 
-}*/
+}
 
 void PID::setInterval(float interval) {
 
@@ -159,7 +158,7 @@
     }
 
 }
-/*
+
 void PID::setSetPoint(float sp) {
 
     setPoint_ = sp;
@@ -171,7 +170,7 @@
     processVariable_ = pv;
 
 }
-*/
+
 void PID::setBias(float bias){
 
     bias_ = bias;

--- a/PID.h	Wed Feb 26 08:46:04 2014 +0000
+++ b/PID.h	Mon Jan 25 22:29:38 2016 +0000
@@ -1,14 +1,17 @@
-#pragma once
+//#pragma once
 
 #ifndef PID_H
 #define PID_H
 
+#define MANUAL_MODE 0
+#define AUTO_MODE   1
+
 class PID
 {
 public:
 
     /*
-    * Constructeur
+    * Constructor
     * Sets default limits, calculates tuning parameters, and sets manual mode with no bias.
     * @param Kc - Tuning parameter
     * @param tauI - Tuning parameter
@@ -53,6 +56,26 @@
     void setInterval(float interval);
 
     /*
+    * Set the target value for the PID loop to maintain.
+    * @param sp The target value to maintain.
+    */
+    void setSetPoint(float sp);
+
+    /*
+    * Set the target value for the PID loop to maintain.
+    * @param pv The target value to maintain.
+    */
+    void setProcessValue(float pv);
+
+    /**
+     * Set PID to manual or auto mode.
+     *
+     * @param mode        0 -> Manual
+     *             Non-zero -> Auto
+     */
+    void setMode(int mode);
+
+    /*
     * Set the bias.
     * @param bias The bias for the controller output.
     */
@@ -77,7 +100,8 @@
 private:
     
     bool usingFeedForward;
-
+    bool inAuto;
+    
     //Actual tuning parameters used in PID calculation.
     float Kc_;
     float tauR_;