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Arduino-PID-Library
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enhance coding style

This commit is contained in:
francois 2015-05-09 20:20:53 +02:00
parent d46dded42d
commit d7c61d2556
3 changed files with 30 additions and 19 deletions
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15
examples/PID_AdaptiveTunings/PID_AdaptiveTunings.ino
View File

@ -11,6 +11,9 @@
#include <PID_v1.h>
#define PIN_INPUT 0
#define PIN_OUTPUT 3
//Define Variables we'll be connecting to
double Setpoint, Input, Output;
@ -24,7 +27,7 @@ PID myPID(&Input, &Output, &Setpoint, consKp, consKi, consKd, DIRECT);
void setup()
{
//initialize the variables we're linked to
Input = analogRead(0);
Input = analogRead(PIN_INPUT);
Setpoint = 100;
//turn the PID on
@ -33,10 +36,10 @@ void setup()
void loop()
{
Input = analogRead(0);
Input = analogRead(PIN_INPUT);
double gap = abs(Setpoint-Input); //distance away from setpoint
if(gap<10)
if (gap < 10)
{ //we're close to setpoint, use conservative tuning parameters
myPID.SetTunings(consKp, consKi, consKd);
}
@ -45,9 +48,9 @@ void loop()
//we're far from setpoint, use aggressive tuning parameters
myPID.SetTunings(aggKp, aggKi, aggKd);
}
myPID.Compute();
analogWrite(3,Output);
analogWrite(PIN_OUTPUT, Output);
}

12
examples/PID_Basic/PID_Basic.ino
View File

@ -5,16 +5,20 @@
#include <PID_v1.h>
#define PIN_INPUT 0
#define PIN_OUTPUT 3
//Define Variables we'll be connecting to
double Setpoint, Input, Output;
//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
double Kp=2, Ki=5, Kd=1;
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
void setup()
{
//initialize the variables we're linked to
Input = analogRead(0);
Input = analogRead(PIN_INPUT);
Setpoint = 100;
//turn the PID on
@ -23,9 +27,9 @@ void setup()
void loop()
{
Input = analogRead(0);
Input = analogRead(PIN_INPUT);
myPID.Compute();
analogWrite(3,Output);
analogWrite(PIN_OUTPUT, Output);
}

22
examples/PID_RelayOutput/PID_RelayOutput.ino
View File

@ -7,28 +7,32 @@
*
* to connect them together we use "time proportioning
* control" it's essentially a really slow version of PWM.
* first we decide on a window size (5000mS say.) we then
* first we decide on a window size (5000mS say.) we then
* set the pid to adjust its output between 0 and that window
* size. lastly, we add some logic that translates the PID
* output into "Relay On Time" with the remainder of the
* output into "Relay On Time" with the remainder of the
* window being "Relay Off Time"
********************************************************/
#include <PID_v1.h>
#define RelayPin 6
#define PIN_INPUT 0
#define RELAY_PIN 6
//Define Variables we'll be connecting to
double Setpoint, Input, Output;
//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
double Kp=2, Ki=5, Kd=1;
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
int WindowSize = 5000;
unsigned long windowStartTime;
void setup()
{
windowStartTime = millis();
//initialize the variables we're linked to
Setpoint = 100;
@ -41,18 +45,18 @@ void setup()
void loop()
{
Input = analogRead(0);
Input = analogRead(PIN_INPUT);
myPID.Compute();
/************************************************
* turn the output pin on/off based on pid output
************************************************/
if(millis() - windowStartTime>WindowSize)
if (millis() - windowStartTime > WindowSize)
{ //time to shift the Relay Window
windowStartTime += WindowSize;
}
if(Output < millis() - windowStartTime) digitalWrite(RelayPin,HIGH);
else digitalWrite(RelayPin,LOW);
if (Output < millis() - windowStartTime) digitalWrite(RELAY_PIN, HIGH);
else digitalWrite(RELAY_PIN, LOW);
}