comparison: components/PID/PID_v1.h
components/PID/PID_v1.h
- changeset 82
- 7d17e2cb31a8
- parent 29
- 45647136ec95
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inserted
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| 81:72c715ac0444 | 82:7d17e2cb31a8 |
|---|---|
| 25 PID_DIRECT = 0, ///< PID direction normal. | 25 PID_DIRECT = 0, ///< PID direction normal. |
| 26 PID_REVERSE = 1, ///< PID direction reverse. | 26 PID_REVERSE = 1, ///< PID direction reverse. |
| 27 } PID_DIRECTION; | 27 } PID_DIRECTION; |
| 28 | 28 |
| 29 /** | 29 /** |
| 30 * @brief PID calculation mode. | |
| 31 */ | |
| 32 typedef enum | |
| 33 { | |
| 34 PID_P_ON_M = 0, ///< PID on Measurement. | |
| 35 PID_P_ON_E = 1, ///< PID on Errors. | |
| 36 } PID_PON; | |
| 37 | |
| 38 | |
| 39 | |
| 40 /** | |
| 41 * @brief Setup the PID controller and initialize. | 30 * @brief Setup the PID controller and initialize. |
| 42 * @param[in] Input The measured value. | 31 * @param[in] Input The measured value. |
| 43 * @param[in,out] Output The computed result. | 32 * @param[in,out] Output The computed result. |
| 44 * @param[in] Setpoint The setpoint to regulate to. | 33 * @param[in] Setpoint The setpoint to regulate to. |
| 45 * @param[in] Kp The Proportional value. | 34 * @param[in] Kp The Proportional value. |
| 46 * @param[in] Ki The Intergral value. | 35 * @param[in] Ki The Intergral value. |
| 47 * @param[in] Kd The Derivate value. | 36 * @param[in] Kd The Derivate value. |
| 48 * @param[in] POn 0 - PID on Measurement, 1 - PID on Error. | |
| 49 * @param[in] Direction Direct or Reverse action. | 37 * @param[in] Direction Direct or Reverse action. |
| 50 */ | 38 */ |
| 51 void PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, PID_PON POn, PID_DIRECTION Direction); | 39 void PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, PID_DIRECTION Direction); |
| 52 | 40 |
| 53 /** | 41 /** |
| 54 * @brief sets PID to either Manual or Automatic. | 42 * @brief sets PID to either Manual or Automatic. |
| 55 * @param Mode Manual (0) or Automatic (1). | 43 * @param Mode Manual (0) or Automatic (1). |
| 56 */ | 44 */ |
| 76 * @brief While most users will set the tunings once in the constructor, this function gives | 64 * @brief While most users will set the tunings once in the constructor, this function gives |
| 77 * the user the option of changing tunings during runtime for Adaptive control. | 65 * the user the option of changing tunings during runtime for Adaptive control. |
| 78 * @param[in] Kp The Proportional value. | 66 * @param[in] Kp The Proportional value. |
| 79 * @param[in] Ki The Intergral value. | 67 * @param[in] Ki The Intergral value. |
| 80 * @param[in] Kd The Derivate value. | 68 * @param[in] Kd The Derivate value. |
| 81 * @param[in] POn 0 - PID on Measurement, 1 - PID on Error. | |
| 82 */ | 69 */ |
| 83 void PID_SetTunings(double Kp, double Ki, double Kd, PID_PON POn); | 70 void PID_SetTunings(double Kp, double Ki, double Kd); |
| 84 | 71 |
| 85 /** | 72 /** |
| 86 * @brief The PID will either be connected to a DIRECT acting process (+Output leads | 73 * @brief The PID will either be connected to a DIRECT acting process (+Output leads |
| 87 * to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to | 74 * to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to |
| 88 * know which one, because otherwise we may increase the output when we should | 75 * know which one, because otherwise we may increase the output when we should |
