Faster responding boost PID
This commit is contained in:
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a7d0a95611
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f6818adecc
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@ -17,10 +17,15 @@ volatile unsigned int boost_pwm_cur_value;
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long boost_pwm_target_value;
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long boost_cl_target_boost;
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byte boostCounter;
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//Boost control uses a scaling factor of 100 on the MAP reading and MAP target in order to have a reasonable response time
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//These are the values that are passed to the PID controller
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long MAPx100;
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long boostTargetx100;
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volatile bool vvt_pwm_state;
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unsigned int vvt_pwm_max_count; //Used for variable PWM frequency
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volatile unsigned int vvt_pwm_cur_value;
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long vvt_pwm_target_value;
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#endif
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@ -3,7 +3,8 @@ Speeduino - Simple engine management for the Arduino Mega 2560 platform
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Copyright (C) Josh Stewart
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A full copy of the license may be found in the projects root directory
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*/
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integerPID boostPID(¤tStatus.MAP, &boost_pwm_target_value, &boost_cl_target_boost, configPage3.boostKP, configPage3.boostKI, configPage3.boostKD, DIRECT); //This is the PID object if that algorithm is used. Needs to be global as it maintains state outside of each function call
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//integerPID boostPID(¤tStatus.MAP, &boost_pwm_target_value, &boost_cl_target_boost, configPage3.boostKP, configPage3.boostKI, configPage3.boostKD, DIRECT); //This is the PID object if that algorithm is used. Needs to be global as it maintains state outside of each function call
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integerPID boostPID(&MAPx100, &boost_pwm_target_value, &boostTargetx100, configPage3.boostKP, configPage3.boostKI, configPage3.boostKD, DIRECT); //This is the PID object if that algorithm is used. Needs to be global as it maintains state outside of each function call
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/*
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Fan control
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@ -48,6 +49,7 @@ void initialiseAuxPWM()
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TIMSK1 |= (1 << OCIE1B); //Turn on the B compare unit (ie turn on the interrupt)
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boostPID.SetOutputLimits(0, boost_pwm_max_count);
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boostPID.SetTunings(configPage3.boostKP, configPage3.boostKI, configPage3.boostKD);
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boostPID.SetMode(AUTOMATIC); //Turn PID on
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boostCounter = 0;
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@ -58,10 +60,17 @@ void boostControl()
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if(configPage3.boostEnabled)
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{
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if(currentStatus.MAP < 100) { TIMSK1 &= ~(1 << OCIE1A); digitalWrite(pinBoost, LOW); return; } //Set duty to 0 and turn off timer compare
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MAPx100 = currentStatus.MAP * 100;
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boost_cl_target_boost = get3DTableValue(&boostTable, currentStatus.TPS, currentStatus.RPM) * 2; //Boost target table is in kpa and divided by 2
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boostTargetx100 = boost_cl_target_boost * 100;
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currentStatus.boostTarget = boost_cl_target_boost >> 1; //Boost target is sent as a byte value to TS and so is divided by 2
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if(currentStatus.boostTarget == 0) { TIMSK1 &= ~(1 << OCIE1A); digitalWrite(pinBoost, LOW); return; } //Set duty to 0 and turn off timer compare if the target is 0
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if( (boostCounter & 31) == 1) { boostPID.SetTunings(configPage3.boostKP, configPage3.boostKI, configPage3.boostKD); } //This only needs to be run very infrequently, once every 32 calls to boostControl(). This is approx. once per second
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boostPID.Compute();
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TIMSK1 |= (1 << OCIE1A); //Turn on the compare unit (ie turn on the interrupt)
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}
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else { TIMSK1 &= ~(1 << OCIE1A); } // Disable timer channel
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@ -14,19 +14,19 @@
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#include "PID_v1.h"
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/*Constructor (...)*********************************************************
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* The parameters specified here are those for for which we can't set up
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* The parameters specified here are those for for which we can't set up
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* reliable defaults, so we need to have the user set them.
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***************************************************************************/
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PID::PID(long* Input, long* Output, long* Setpoint,
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byte Kp, byte Ki, byte Kd, byte ControllerDirection)
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{
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myOutput = Output;
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myInput = Input;
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mySetpoint = Setpoint;
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inAuto = false;
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PID::SetOutputLimits(0, 255); //default output limit corresponds to
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PID::SetOutputLimits(0, 255); //default output limit corresponds to
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//the arduino pwm limits
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//SampleTime = 100; //default Controller Sample Time is 0.1 seconds
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@ -34,16 +34,16 @@ PID::PID(long* Input, long* Output, long* Setpoint,
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PID::SetControllerDirection(ControllerDirection);
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PID::SetTunings(Kp, Ki, Kd);
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//lastTime = millis()-SampleTime;
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//lastTime = millis()-SampleTime;
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}
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/* Compute() **********************************************************************
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* This, as they say, is where the magic happens. this function should be called
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* every time "void loop()" executes. the function will decide for itself whether a new
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* pid Output needs to be computed. returns true when the output is computed,
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* false when nothing has been done.
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**********************************************************************************/
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**********************************************************************************/
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bool PID::Compute()
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{
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if(!inAuto) return false;
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@ -58,14 +58,14 @@ bool PID::Compute()
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if(ITerm > outMax) ITerm= outMax;
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else if(ITerm < outMin) ITerm= outMin;
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long dInput = (input - lastInput);
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/*Compute PID Output*/
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long output = (kp * error)/100 + ITerm- (kd * dInput)/100;
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if(output > outMax) output = outMax;
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else if(output < outMin) output = outMin;
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*myOutput = output;
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/*Remember some variables for next time*/
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lastInput = input;
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//lastTime = now;
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@ -76,18 +76,18 @@ bool PID::Compute()
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/* SetTunings(...)*************************************************************
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* This function allows the controller's dynamic performance to be adjusted.
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* This function allows the controller's dynamic performance to be adjusted.
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* it's called automatically from the constructor, but tunings can also
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* be adjusted on the fly during normal operation
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******************************************************************************/
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******************************************************************************/
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void PID::SetTunings(byte Kp, byte Ki, byte Kd)
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{
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if (Kp<0 || Ki<0 || Kd<0) return;
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dispKp = Kp; dispKi = Ki; dispKd = Kd;
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/*
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double SampleTimeInSec = ((double)SampleTime)/1000;
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double SampleTimeInSec = ((double)SampleTime)/1000;
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kp = Kp;
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ki = Ki * SampleTimeInSec;
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kd = Kd / SampleTimeInSec;
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@ -96,7 +96,7 @@ void PID::SetTunings(byte Kp, byte Ki, byte Kd)
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kp = Kp;
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ki = (Ki * 100) / InverseSampleTimeInSec;
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kd = (Kd * InverseSampleTimeInSec) / 100;
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if(controllerDirection ==REVERSE)
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{
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kp = (0 - kp);
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@ -104,9 +104,9 @@ void PID::SetTunings(byte Kp, byte Ki, byte Kd)
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kd = (0 - kd);
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}
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}
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/* SetSampleTime(...) *********************************************************
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* sets the period, in Milliseconds, at which the calculation is performed
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* sets the period, in Milliseconds, at which the calculation is performed
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******************************************************************************/
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void PID::SetSampleTime(int NewSampleTime)
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{
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@ -119,7 +119,7 @@ void PID::SetSampleTime(int NewSampleTime)
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SampleTime = (unsigned long)NewSampleTime;
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}
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}
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/* SetOutputLimits(...)****************************************************
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* This function will be used far more often than SetInputLimits. while
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* the input to the controller will generally be in the 0-1023 range (which is
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@ -133,12 +133,12 @@ void PID::SetOutputLimits(long Min, long Max)
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if(Min >= Max) return;
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outMin = Min;
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outMax = Max;
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if(inAuto)
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{
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if(*myOutput > outMax) *myOutput = outMax;
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else if(*myOutput < outMin) *myOutput = outMin;
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if(ITerm > outMax) ITerm= outMax;
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else if(ITerm < outMin) ITerm= outMin;
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}
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@ -148,7 +148,7 @@ void PID::SetOutputLimits(long Min, long Max)
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* Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
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* when the transition from manual to auto occurs, the controller is
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* automatically initialized
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******************************************************************************/
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******************************************************************************/
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void PID::SetMode(int Mode)
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{
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bool newAuto = (Mode == AUTOMATIC);
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@ -158,11 +158,11 @@ void PID::SetMode(int Mode)
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}
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inAuto = newAuto;
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}
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/* Initialize()****************************************************************
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* does all the things that need to happen to ensure a bumpless transfer
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* from manual to automatic mode.
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******************************************************************************/
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******************************************************************************/
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void PID::Initialize()
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{
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ITerm = *myOutput;
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@ -172,7 +172,7 @@ void PID::Initialize()
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}
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/* SetControllerDirection(...)*************************************************
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* The PID will either be connected to a DIRECT acting process (+Output leads
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* The PID will either be connected to a DIRECT acting process (+Output leads
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* to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
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* know which one, because otherwise we may increase the output when we should
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* be decreasing. This is called from the constructor.
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@ -184,13 +184,13 @@ void PID::SetControllerDirection(byte Direction)
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kp = (0 - kp);
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ki = (0 - ki);
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kd = (0 - kd);
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}
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}
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controllerDirection = Direction;
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}
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/* Status Funcions*************************************************************
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* Just because you set the Kp=-1 doesn't mean it actually happened. these
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* functions query the internal state of the PID. they're here for display
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* functions query the internal state of the PID. they're here for display
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* purposes. this are the functions the PID Front-end uses for example
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******************************************************************************/
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byte PID::GetKp(){ return dispKp; }
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@ -200,19 +200,19 @@ int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
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int PID::GetDirection(){ return controllerDirection;}
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/*Constructor (...)*********************************************************
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* The parameters specified here are those for for which we can't set up
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* The parameters specified here are those for for which we can't set up
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* reliable defaults, so we need to have the user set them.
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***************************************************************************/
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integerPID::integerPID(long* Input, long* Output, long* Setpoint,
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byte Kp, byte Ki, byte Kd, byte ControllerDirection)
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{
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myOutput = Output;
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myInput = (long*)Input;
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mySetpoint = Setpoint;
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inAuto = false;
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integerPID::SetOutputLimits(0, 255); //default output limit corresponds to
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integerPID::SetOutputLimits(0, 255); //default output limit corresponds to
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//the arduino pwm limits
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SampleTime = 100; //default Controller Sample Time is 0.1 seconds
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@ -220,61 +220,62 @@ integerPID::integerPID(long* Input, long* Output, long* Setpoint,
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integerPID::SetControllerDirection(ControllerDirection);
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integerPID::SetTunings(Kp, Ki, Kd);
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lastTime = millis()-SampleTime;
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lastTime = millis()-SampleTime;
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}
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/* Compute() **********************************************************************
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* This, as they say, is where the magic happens. this function should be called
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* every time "void loop()" executes. the function will decide for itself whether a new
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* pid Output needs to be computed. returns true when the output is computed,
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* false when nothing has been done.
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**********************************************************************************/
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**********************************************************************************/
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bool integerPID::Compute()
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{
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if(!inAuto) return false;
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unsigned long now = millis();
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//SampleTime = (now - lastTime);
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unsigned long timeChange = (now - lastTime);
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if(timeChange>=SampleTime)
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if(timeChange >= SampleTime)
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{
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/*Compute all the working error variables*/
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long input = *myInput;
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long input = *myInput;
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long error = *mySetpoint - input;
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ITerm+= (ki * error)/1000; //Note that ki is multiplied by 1000 rather than 100, so it must be divided by 1000 here
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if(ITerm > outMax) ITerm= outMax;
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else if(ITerm < outMin) ITerm= outMin;
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ITerm += (ki * error)/1000; //Note that ki is multiplied by 1000 rather than 100, so it must be divided by 1000 here
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if(ITerm > outMax) { ITerm = outMax; }
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else if(ITerm < outMin) { ITerm = outMin; }
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long dInput = (input - lastInput);
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/*Compute PID Output*/
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long output = (kp * error)/100 + ITerm - (kd * dInput)/100;
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if(output > outMax) output = outMax;
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if(output > outMax) output = outMax;
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else if(output < outMin) output = outMin;
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*myOutput = output;
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*myOutput = output;
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/*Remember some variables for next time*/
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lastInput = input;
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lastTime = now;
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return true;
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return true;
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}
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else return false;
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}
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/* SetTunings(...)*************************************************************
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* This function allows the controller's dynamic performance to be adjusted.
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* This function allows the controller's dynamic performance to be adjusted.
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* it's called automatically from the constructor, but tunings can also
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* be adjusted on the fly during normal operation
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******************************************************************************/
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******************************************************************************/
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void integerPID::SetTunings(byte Kp, byte Ki, byte Kd)
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{
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if (Kp<0 || Ki<0 || Kd<0) return;
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if ( dispKp == Kp && dispKi == Ki && dispKd == Kd ) return; //Only do anything if one of the values has changed
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dispKp = Kp; dispKi = Ki; dispKd = Kd;
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/*
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double SampleTimeInSec = ((double)SampleTime)/1000;
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double SampleTimeInSec = ((double)SampleTime)/1000;
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kp = Kp;
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ki = Ki * SampleTimeInSec;
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kd = Kd / SampleTimeInSec;
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kp = Kp;
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ki = (long)((long)Ki * 1000) / InverseSampleTimeInSec;
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kd = ((long)Kd * InverseSampleTimeInSec) / 100;
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if(controllerDirection == REVERSE)
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{
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kp = (0 - kp);
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@ -291,13 +292,13 @@ void integerPID::SetTunings(byte Kp, byte Ki, byte Kd)
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kd = (0 - kd);
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}
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}
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/* SetSampleTime(...) *********************************************************
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* sets the period, in Milliseconds, at which the calculation is performed
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* sets the period, in Milliseconds, at which the calculation is performed
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******************************************************************************/
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void integerPID::SetSampleTime(int NewSampleTime)
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{
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if (SampleTime == (unsigned long)NewSampleTime) return; //If new value = old value, no action required.
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if (SampleTime == (unsigned long)NewSampleTime) return; //If new value = old value, no action required.
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if (NewSampleTime > 0)
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{
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unsigned long ratioX1000 = (unsigned long)(NewSampleTime * 1000) / (unsigned long)SampleTime;
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@ -307,7 +308,7 @@ void integerPID::SetSampleTime(int NewSampleTime)
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SampleTime = (unsigned long)NewSampleTime;
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}
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}
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/* SetOutputLimits(...)****************************************************
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* This function will be used far more often than SetInputLimits. while
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* the input to the controller will generally be in the 0-1023 range (which is
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@ -321,12 +322,12 @@ void integerPID::SetOutputLimits(long Min, long Max)
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if(Min >= Max) return;
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outMin = Min;
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outMax = Max;
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if(inAuto)
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{
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if(*myOutput > outMax) *myOutput = outMax;
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else if(*myOutput < outMin) *myOutput = outMin;
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if(ITerm > outMax) ITerm= outMax;
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else if(ITerm < outMin) ITerm= outMin;
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}
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@ -336,7 +337,7 @@ void integerPID::SetOutputLimits(long Min, long Max)
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* Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
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* when the transition from manual to auto occurs, the controller is
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* automatically initialized
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******************************************************************************/
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******************************************************************************/
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void integerPID::SetMode(int Mode)
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{
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bool newAuto = (Mode == AUTOMATIC);
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@ -346,11 +347,11 @@ void integerPID::SetMode(int Mode)
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}
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inAuto = newAuto;
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}
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/* Initialize()****************************************************************
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* does all the things that need to happen to ensure a bumpless transfer
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* from manual to automatic mode.
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******************************************************************************/
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******************************************************************************/
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void integerPID::Initialize()
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{
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ITerm = *myOutput;
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@ -360,7 +361,7 @@ void integerPID::Initialize()
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}
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/* SetControllerDirection(...)*************************************************
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* The PID will either be connected to a DIRECT acting process (+Output leads
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* The PID will either be connected to a DIRECT acting process (+Output leads
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* to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
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* know which one, because otherwise we may increase the output when we should
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* be decreasing. This is called from the constructor.
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@ -372,13 +373,13 @@ void integerPID::SetControllerDirection(byte Direction)
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kp = (0 - kp);
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ki = (0 - ki);
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kd = (0 - kd);
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}
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}
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controllerDirection = Direction;
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}
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/* Status Funcions*************************************************************
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* Just because you set the Kp=-1 doesn't mean it actually happened. these
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* functions query the internal state of the PID. they're here for display
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* functions query the internal state of the PID. they're here for display
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* purposes. this are the functions the PID Front-end uses for example
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******************************************************************************/
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byte integerPID::GetKp(){ return dispKp; }
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