/*Constructor (...)*********************************************************
* The parameters specified here are those for for which we can't set up
* reliable defaults, so we need to have the user set them.
***************************************************************************/
pid_data_t config_data(float Input, float Output, float Setpoint,
float kp, float ki, float kd, int ControllerDirection)
{
pid_data_t pid_data = malloc(sizeof(struct pid_data_t));
pid_data->Input = Input;
pid_data->Output = Output;
pid_data->Setpoint = Setpoint;
pid_data->inAuto = FALSE;
pid_setOutputLimits(pid_data, 0, 255); //default output limit
pid_data->SampleTime = 100; //default Controller Sample Time is 0.1 seconds
pid_setControllerDirection(pid_data, ControllerDirection);
pid_setTunings(pid_data, kp, ki, kd);
return pid_data;
}//config_data
/*Initialization() *********************************************************
* The parameters specified here are those for for which we can't set up
* reliable defaults, so we need to have the user set them.
***************************************************************************/
void pid_init()
{
// initialize the input, output and setpoint arrays
for (uint8 i=0; i<PID_DIMENSION; i++) {
pid_input[i] = 0;
pid_output[i] = 0;
pid_setpoint[i] = 0;
integral_term[i] = 0;
}
// set basic properties
pid_setOutputLimits(0-OUTPUT_LIMIT, OUTPUT_LIMIT); // default output limit - see pid.h
sample_time = SAMPLE_INTERVAL; // default Controller sample time is 16ms
pid_setControllerDirection(DIRECT); // direct mode
// pid_setControllerDirection(REVERSE); // reverse mode
// set default tuning values - see pid.h
pid_setTunings(DEFAULT_KP, DEFAULT_KI, DEFAULT_KD);
// set sample time and initialize timer
pid_setSampleTime(SAMPLE_INTERVAL);
last_time = millis() - sample_time; // initialize time keeping variable
inAuto = FALSE; // don't start the controller until needed
}