Wed, 03 Jul 2019 10:39:58 +0200
Removed unused file.
/** * @file * @brief Interface definitions for the PID controller. * * Loger description */ #ifndef _PID_V1_H #define _PID_V1_H /** * @brief PID mode codes. */ typedef enum { PID_MANUAL = 0, ///< PID mode manual. PID_AUTOMATIC = 1, ///< PID mode is automatic. } PID_MODE; /** * @brief PID direction codes. */ typedef enum { PID_DIRECT = 0, ///< PID direction normal. PID_REVERSE = 1, ///< PID direction reverse. } PID_DIRECTION; /** * @brief PID calculation mode. */ typedef enum { PID_P_ON_M = 0, ///< PID on Measurement. PID_P_ON_E = 1, ///< PID on Errors. } PID_PON; /** * @brief Setup the PID controller and initialize. * @param[in] Input The measured value. * @param[in,out] Output The computed result. * @param[in] Setpoint The setpoint to regulate to. * @param[in] Kp The Proportional value. * @param[in] Ki The Intergral value. * @param[in] Kd The Derivate value. * @param[in] POn 0 - PID on Measurement, 1 - PID on Error. * @param[in] Direction Direct or Reverse action. */ void PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, PID_PON POn, PID_DIRECTION Direction); /** * @brief sets PID to either Manual or Automatic. * @param Mode Manual (0) or Automatic (1). */ void PID_SetMode(PID_MODE Mode); /** * @brief This, as they say, is where the magic happens. this function should be called * every time "void loop()" executes. the function will decide for itself whether a new * pid Output needs to be computed. * @return Returns true when the output is computed, false when nothing has been done. */ bool PID_Compute(void); /** * @brief Clamps the output to a specific range. 0-255 by default, but it's likely the user * will want to change this depending on the application. * @param[in] Min The minimal value that Output can be. * @param[in] Max The maximum value that Output can be. */ void PID_SetOutputLimits(double Min, double Max); /** * @brief While most users will set the tunings once in the constructor, this function gives * the user the option of changing tunings during runtime for Adaptive control. * @param[in] Kp The Proportional value. * @param[in] Ki The Intergral value. * @param[in] Kd The Derivate value. * @param[in] POn 0 - PID on Measurement, 1 - PID on Error. */ void PID_SetTunings(double Kp, double Ki, double Kd, PID_PON POn); /** * @brief The PID will either be connected to a DIRECT acting process (+Output leads * to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to * know which one, because otherwise we may increase the output when we should * be decreasing. * @param[in] Direction Direct or Reverse action. */ void PID_SetControllerDirection(PID_DIRECTION Direction); /** * @brief Sets the frequency, in Milliseconds, with which the PID calculation is performed. * default is 100 * @param[in] NewSampleTime The new time in Milliseconds. */ void PID_SetSampleTime(int NewSampleTime); /** * @brief This function queries the internal state of the PID. It's here for display * purposes. this are the functions the PID Front-end uses for example. * @return The Kp setting. */ double PID_GetKp(); /** * @brief This function queries the internal state of the PID. It's here for display * purposes. this are the functions the PID Front-end uses for example. * @return The Ki setting. */ double PID_GetKi(); /** * @brief This function queries the internal state of the PID. It's here for display * purposes. this are the functions the PID Front-end uses for example. * @return The Kp setting. */ double PID_GetKd(); /** * @brief This function queries the internal state of the PID. It's here for display * purposes. this are the functions the PID Front-end uses for example. * @return Returns PID_AUTOMATIC or PID_MANUAL. */ PID_MODE PID_GetMode(); /** * @brief This function queries the internal state of the PID. It's here for display * purposes. this are the functions the PID Front-end uses for example. * @return Returns PID_DIRECT or PID_REVERSE. */ PID_DIRECTION PID_GetDirection(); #endif