52 lines
908 B
C
52 lines
908 B
C
|
/*
|
||
|
|
* pid_auto_tune.h
|
||
|
|
*
|
||
|
|
* http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/
|
||
|
|
*
|
||
|
|
*
|
||
|
|
* Created on: Sep 13, 2017
|
||
|
|
* @author Andrey Belomutskiy, (c) 2012-2017
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef CONTROLLERS_MATH_PID_AUTO_TUNE_H_
|
||
|
|
#define CONTROLLERS_MATH_PID_AUTO_TUNE_H_
|
||
|
|
|
||
|
|
class PID_AutoTune {
|
||
|
|
public:
|
||
|
|
PID_AutoTune();
|
||
|
|
void reset();
|
||
|
|
void FinishUp();
|
||
|
|
int Runtime();
|
||
|
|
bool isMax, isMin;
|
||
|
|
/**
|
||
|
|
* sensor position
|
||
|
|
*/
|
||
|
|
float input;
|
||
|
|
/**
|
||
|
|
* actuator duty cycle
|
||
|
|
*/
|
||
|
|
float output;
|
||
|
|
/**
|
||
|
|
* trigger line
|
||
|
|
*/
|
||
|
|
float setpoint;
|
||
|
|
float noiseBand;
|
||
|
|
//int controlType = 1;
|
||
|
|
bool running;
|
||
|
|
unsigned int peak1, peak2, lastTime;
|
||
|
|
//int sampleTime;
|
||
|
|
int nLookBack;
|
||
|
|
int peakType; // todo: convert to enum
|
||
|
|
float lastInputs[101];
|
||
|
|
float peaks[10];
|
||
|
|
int peakCount;
|
||
|
|
bool justchanged;
|
||
|
|
bool justevaled;
|
||
|
|
float absMax, absMin;
|
||
|
|
float oStep;
|
||
|
|
float outputStart;
|
||
|
|
float Ku, Pu;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif /* CONTROLLERS_MATH_PID_AUTO_TUNE_H_ */
|