comparison: components/PID/PID_v1.h
components/PID/PID_v1.h
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| 1 /** | |
| 2 * @file | |
| 3 * @brief Interface definitions for the PID controller. | |
| 4 * | |
| 5 * Loger description | |
| 6 */ | |
| 7 | |
| 8 #ifndef _PID_V1_H | |
| 9 #define _PID_V1_H | |
| 10 | |
| 11 /** | |
| 12 * @brief PID mode codes. | |
| 13 */ | |
| 14 typedef enum | |
| 15 { | |
| 16 PID_MANUAL = 0, ///< PID mode manual. | |
| 17 PID_AUTOMATIC = 1, ///< PID mode is automatic. | |
| 18 } PID_MODE; | |
| 19 | |
| 20 /** | |
| 21 * @brief PID direction codes. | |
| 22 */ | |
| 23 typedef enum | |
| 24 { | |
| 25 PID_DIRECT = 0, ///< PID direction normal. | |
| 26 PID_REVERSE = 1, ///< PID direction reverse. | |
| 27 } PID_DIRECTION; | |
| 28 | |
| 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. | |
| 42 * @param[in] Input The measured value. | |
| 43 * @param[in,out] Output The computed result. | |
| 44 * @param[in] Setpoint The setpoint to regulate to. | |
| 45 * @param[in] Kp The Proportional value. | |
| 46 * @param[in] Ki The Intergral value. | |
| 47 * @param[in] Kd The Derivate value. | |
| 48 * @param[in] POn 0 - PID on Measurement, 1 - PID on Error. | |
| 49 * @param[in] ControllerDirection Direct or Reverse action. | |
| 50 */ | |
| 51 void PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, PID_PON POn, PID_DIRECTION Direction); | |
| 52 | |
| 53 /** | |
| 54 * @brief sets PID to either Manual or Automatic. | |
| 55 * @param Mode Manual (0) or Automatic (1). | |
| 56 */ | |
| 57 void PID_SetMode(PID_MODE Mode); | |
| 58 | |
| 59 /** | |
| 60 * @brief This, as they say, is where the magic happens. this function should be called | |
| 61 * every time "void loop()" executes. the function will decide for itself whether a new | |
| 62 * pid Output needs to be computed. | |
| 63 * @return Returns true when the output is computed, false when nothing has been done. | |
| 64 */ | |
| 65 bool PID_Compute(void); | |
| 66 | |
| 67 /** | |
| 68 * @brief Clamps the output to a specific range. 0-255 by default, but it's likely the user | |
| 69 * will want to change this depending on the application. | |
| 70 * @param[in] Min The minimal value that Output can be. | |
| 71 * @param[in] Max The maximum value that Output can be. | |
| 72 */ | |
| 73 void PID_SetOutputLimits(double Min, double Max); | |
| 74 | |
| 75 /** | |
| 76 * @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. | |
| 78 * @param[in] Kp The Proportional value. | |
| 79 * @param[in] Ki The Intergral value. | |
| 80 * @param[in] Kd The Derivate value. | |
| 81 * @param[in] POn 0 - PID on Measurement, 1 - PID on Error. | |
| 82 */ | |
| 83 void PID_SetTunings(double Kp, double Ki, double Kd, PID_PON POn); | |
| 84 | |
| 85 /** | |
| 86 * @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 | |
| 88 * know which one, because otherwise we may increase the output when we should | |
| 89 * be decreasing. | |
| 90 * @param[in] Direction Direct or Reverse action. | |
| 91 */ | |
| 92 void PID_SetControllerDirection(PID_DIRECTION Direction); | |
| 93 | |
| 94 /** | |
| 95 * @brief Sets the frequency, in Milliseconds, with which the PID calculation is performed. | |
| 96 * default is 100 | |
| 97 * @param[in] NewSampleTime The new time in Milliseconds. | |
| 98 */ | |
| 99 void PID_SetSampleTime(int NewSampleTime); | |
| 100 | |
| 101 /** | |
| 102 * @brief This function queries the internal state of the PID. It's here for display | |
| 103 * purposes. this are the functions the PID Front-end uses for example. | |
| 104 * @return The Kp setting. | |
| 105 */ | |
| 106 double PID_GetKp(); | |
| 107 | |
| 108 /** | |
| 109 * @brief This function queries the internal state of the PID. It's here for display | |
| 110 * purposes. this are the functions the PID Front-end uses for example. | |
| 111 * @return The Ki setting. | |
| 112 */ | |
| 113 double PID_GetKi(); | |
| 114 | |
| 115 /** | |
| 116 * @brief This function queries the internal state of the PID. It's here for display | |
| 117 * purposes. this are the functions the PID Front-end uses for example. | |
| 118 * @return The Kp setting. | |
| 119 */ | |
| 120 double PID_GetKd(); | |
| 121 | |
| 122 /** | |
| 123 * @brief This function queries the internal state of the PID. It's here for display | |
| 124 * purposes. this are the functions the PID Front-end uses for example. | |
| 125 * @return Returns PID_AUTOMATIC or PID_MANUAL. | |
| 126 */ | |
| 127 PID_MODE PID_GetMode(); | |
| 128 | |
| 129 /** | |
| 130 * @brief This function queries the internal state of the PID. It's here for display | |
| 131 * purposes. this are the functions the PID Front-end uses for example. | |
| 132 * @return Returns PID_DIRECT or PID_REVERSE. | |
| 133 */ | |
| 134 PID_DIRECTION PID_GetDirection(); | |
| 135 | |
| 136 | |
| 137 #endif |
