Mercurial > mbsePi-apps / file comparison
comparison: thermferm/pid.c
thermferm/pid.c
- changeset 316
- 73cd31dc6ce1
- child 362
- c92651a54969
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| 1 /***************************************************************************** | |
| 2 * Copyright (C) 2015 | |
| 3 * | |
| 4 * Michiel Broek <mbroek at mbse dot eu> | |
| 5 * | |
| 6 * This file is part of the mbsePi-apps | |
| 7 * | |
| 8 * This is free software; you can redistribute it and/or modify it | |
| 9 * under the terms of the GNU General Public License as published by the | |
| 10 * Free Software Foundation; either version 2, or (at your option) any | |
| 11 * later version. | |
| 12 * | |
| 13 * mbsePi-apps is distributed in the hope that it will be useful, but | |
| 14 * WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | |
| 16 * General Public License for more details. | |
| 17 * | |
| 18 * You should have received a copy of the GNU General Public License | |
| 19 * along with ThermFerm; see the file COPYING. If not, write to the Free | |
| 20 * Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. | |
| 21 *****************************************************************************/ | |
| 22 | |
| 23 #include "thermferm.h" | |
| 24 #include "pid.h" | |
| 25 | |
| 26 | |
| 27 double UpdatePID(pid_var *pid, double error, double position) | |
| 28 { | |
| 29 double pTerm, dTerm, iTerm; | |
| 30 | |
| 31 pTerm = pid->pGain * error; | |
| 32 | |
| 33 /* | |
| 34 * Calculate the integral state with appopriate limiting | |
| 35 */ | |
| 36 pid->iState += error; | |
| 37 if (pid->iState > pid->iMax) | |
| 38 pid->iState = pid->iMax; | |
| 39 else if (pid->iState < pid->iMin) | |
| 40 pid->iState = pid->iMin; | |
| 41 | |
| 42 iTerm = pid->iGain * pid->iState; | |
| 43 | |
| 44 dTerm = pid->dGain * (pid->dState - position); | |
| 45 pid->dState = position; | |
| 46 | |
| 47 return pTerm + dTerm + iTerm; | |
| 48 } | |
| 49 | |
| 50 |
