public TemperatureControlService(IOutputHelper helper, ITemperatureSensor sensor, Settings systemSettings)
{
SystemSettings = systemSettings;
_outputHelper = helper;
_thermistor = sensor;
_pid = new PIDController(PinManagement.currentTemperatureSensor, _output, PinManagement.setTemperature, SystemSettings.PIDKp, SystemSettings.PIDKi, SystemSettings.PIDKd, PIDController.PID_Direction.DIRECT);
_pid.SetOutputLimits(0, 100);
_pid.SampleTime = _windowSize;
_pid.Mode = PIDController.PID_Mode.AUTOMATIC;
_windowStartTime = DateTime.Now.Ticks;
_pidAutoTune = new PIDAutoTune();
if (_tuning)
{
_tuning = false;
ChangeAutoTune();
_tuning = true;
}
}
/// <summary>
/// Default constructor
/// </summary>
/// <param name="input"></param>
/// <param name="output"></param>
/// <param name="setpoint"></param>
/// <param name="kp"></param>
/// <param name="ki"></param>
/// <param name="kd"></param>
/// <param name="controllerDirection"></param>
public PIDController(double input, double output, double setpoint, double kp, double ki, double kd, PIDController.PID_Direction controllerDirection)
{
SetOutputLimits(0, 255);
SampleTime = 1000;
Direction = controllerDirection;
SetTunings(kp, ki, kd);
_lastTime = DateTime.Now.Ticks - SampleTime;
_inAutoMode = false;
Input = input;
Output = output;
SetPoint = setpoint;
}
