PID::PID(float Kc, float tauI, float tauD, float interval) {
usingFeedForward = false;
inAuto = false;
//Default the limits to the full range of I/O: 3.3V
//Make sure to set these to more appropriate limits for
//your application.
setInputLimits(0.0, 3.3);
setOutputLimits(0.0, 3.3);
tSample_ = interval;
setTunings(Kc, tauI, tauD);
setPoint_ = 0.0;
processVariable_ = 0.0;
prevProcessVariable_ = 0.0;
controllerOutput_ = 0.0;
prevControllerOutput_ = 0.0;
accError_ = 0.0;
bias_ = 0.0;
realOutput_ = 0.0;
}
void Spooler::on() {
setTunings(0.5, 0.01, 0.0);
setMode(MANUAL);
setRPM(120);
setMode(AUTOMATIC);
enable();
_startFlag = true;
}
PID::PID(double kp, double ki, double kd, uint8_t direction, uint32_t period, uint32_t time){
setOutputLimits(0, 255);
setPeriod(100);
setDirection(direction);
setTunings(kp, ki, kd);
if (time > period) lastTime = time - period;
else lastTime = 0;
}
PIDProcess::PIDProcess(const char* name, float desiredValue, float ki, float kd, float kp,
ControllerDirections controllerDirection, float outMin, float outMax)
:desiredValue(desiredValue), specifiedDesiredValue(desiredValue), outMin(outMin), outMax(outMax),
controllerDirection(controllerDirection), sampleTime(DEFAULT_SAMPLE_TIME), ITerm(0) {
setTunings(kp, ki, kd);
strcpy(this->name, name);
this->lastExecMillis = millis() - this->sampleTime;
}
PID(volatile float* error, volatile float* output, float epsilon)
{
this->output = output;
this->error = error;
setTunings(0, 0, 0);
this->epsilon = epsilon;
pre_error = 0;
derivative = 0;
integral = 0;
}
