From d66ce4b75b1904419f62f666fb231201312a4a11 Mon Sep 17 00:00:00 2001 From: Fabien Poussin Date: Thu, 22 Mar 2018 16:30:35 +0100 Subject: Adding PID library --- os/various/pid.h | 78 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 78 insertions(+) create mode 100644 os/various/pid.h (limited to 'os/various/pid.h') diff --git a/os/various/pid.h b/os/various/pid.h new file mode 100644 index 0000000..d98df3e --- /dev/null +++ b/os/various/pid.h @@ -0,0 +1,78 @@ +#ifndef PID_h +#define PID_h + +#include "chtypes.h" + +//Constants used in some of the functions below +#define PID_AUTOMATIC 1 +#define PID_MANUAL 0 +#define PID_DIRECT 0 +#define PID_REVERSE 1 +#define PID_P_ON_M 0 +#define PID_P_ON_E 1 + + +typedef struct { + + float dispKp; // * we'll hold on to the tuning parameters in user-entered + float dispKi; // format for display purposes + float dispKd; // + + float kp; // * (P)roportional Tuning Parameter + float ki; // * (I)ntegral Tuning Parameter + float kd; // * (D)erivative Tuning Parameter + + int controllerDirection; + int pOn; + + float *myInput; // * Pointers to the Input, Output, and Setpoint variables + float *myOutput; // This creates a hard link between the variables and the + float *mySetpoint; // PID, freeing the user from having to constantly tell us + // what these values are. with pointers we'll just know. + unsigned long lastTime; + float outputSum; + float lastInput; + + unsigned long SampleTime; + float outMin; + float outMax; + + bool inAuto; + bool pOnE; + +} pid_t; + + +//commonly used functions ************************************************************************** +void pid_create(pid_t* p, float* Input, float* Output, float* Setpoint, // * constructor. links the PID to the Input, Output, and + float Kp, float Ki, float Kd, int POn, int ControllerDirection); // Setpoint. Initial tuning parameters are also set here. + // (overload for specifying proportional mode) + +void pid_setmode(pid_t* p, int mode); // * sets PID to either Manual (0) or Auto (non-0) + +bool pid_compute(pid_t* p); // * 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 pid_setOutputLimits(pid_t* p, float Min, float Max); // * 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 pid_setTunings(pid_t* p, float Kp, float Ki, float Kd, int POn); // * While most users will set the tunings once in the + // constructor, this function gives the user the option + // of changing tunings during runtime for Adaptive control + +void pid_setControllerDirection(pid_t* p, int Direction); // * 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 pid_setSampleTime(pid_t* p, int NewSampleTime); // * sets the frequency, in Milliseconds, with which + // the PID calculation is performed. default is 100 + +void pid_initialize(pid_t* p); + +#endif -- cgit v1.2.3