Mercurial > mbsePi-apps / file comparison
comparison: brewco/pid.h
brewco/pid.h
- changeset 487
- d5bc44183aa4
- parent 486
- 5a237a99a793
- child 488
- bee1f70fb42b
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| 486:5a237a99a793 | 487:d5bc44183aa4 |
|---|---|
| 1 #ifndef PID_H | |
| 2 #define PID_H | |
| 3 | |
| 4 | |
| 5 #define P_MANUAL 0 | |
| 6 #define P_AUTOMATIC 1 | |
| 7 #define P_DIRECT 0 | |
| 8 #define P_REVERSE 1 | |
| 9 | |
| 10 typedef struct _pid_var { | |
| 11 double Kp; /* (P)roportional Tuning Parameter */ | |
| 12 double Ki; /* (I)ntegral Tuning Parameter */ | |
| 13 double Kd; /* (D)erivative Tuning Parameter */ | |
| 14 double dispKp; | |
| 15 double dispKi; | |
| 16 double dispKd; | |
| 17 int Direction; /* Controller direction */ | |
| 18 double *myInput; /* Input parameter */ | |
| 19 double *myOutput; /* Output parameter */ | |
| 20 double *mySetpoint; /* Setpoint parameter */ | |
| 21 long lastTime; /* Last compute time */ | |
| 22 double ITerm; | |
| 23 double lastInput; | |
| 24 long SampleTime; | |
| 25 double outMin; | |
| 26 double outMax; | |
| 27 int inAuto; | |
| 28 } pid_var; | |
| 29 | |
| 30 | |
| 31 void PID_init(pid_var *, double *, double *, double *, double, double, double, int); | |
| 32 void PID_setMode(pid_var *, int); | |
| 33 void PID_setOutputLimits(pid_var *, double, double); | |
| 34 void PID_setTunings(pid_var *, double, double, double); | |
| 35 void PID_setDirection(pid_var *, int); | |
| 36 void PID_setSampleTime(pid_var *, int); | |
| 37 double PID_getKp(pid_var *); | |
| 38 double PID_getKi(pid_var *); | |
| 39 double PID_getKd(pid_var *); | |
| 40 int PID_getMode(pid_var *); | |
| 41 int PID_getDirection(pid_var *); | |
| 42 int PID_getSampleTime(pid_var *); | |
| 43 int PID_compute(pid_var *); | |
| 44 | |
| 45 | |
| 46 #endif |
