/// <summary>
/// The PID will either be connected to a DIRECT acting process (+Output leads
/// to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
/// know which one, because otherwise we may increase the output when we should
/// be decreasing. This is called from the constructor.
/// </summary>
/// <param name="direction"></param>
public void SetControllerDirection(PidDirection direction)
{
if (inAuto && direction != controllerDirection)
{
kp = (0 - kp);
ki = (0 - ki);
kd = (0 - kd);
}
controllerDirection = direction;
}
/// <summary>
/// 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.
/// </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>
/// <param name="millis">time in milliseconds</param>
public PIDControllerA(double Input, double Output, double Setpoint,
double Kp, double Ki, double Kd,
PidDirection ControllerDirection, ulong millis)
{
myOutput = Output;
myInput = Input;
mySetpoint = Setpoint;
inAuto = true;
SetOutputLimits(0.0d, 255.0d, 255.0d); //default output limit corresponds to the arduino pwm limits
SampleTime = 100L; //default Controller Sample Time is 0.1 seconds
SetControllerDirection(ControllerDirection);
SetTunings(Kp, Ki, Kd);
lastTime = (millis - SampleTime) > 0 ? (millis - SampleTime) : 0;
}
/// <summary>
/// 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.
/// </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>
/// <param name="millis">time in milliseconds</param>
public PIDControllerA(double Input, double Output, double Setpoint,
double Kp, double Ki, double Kd,
PidDirection ControllerDirection, ulong millis)
{
myOutput = Output;
myInput = Input;
mySetpoint = Setpoint;
inAuto = true;
SetOutputLimits(0.0d, 255.0d, 255.0d); //default output limit corresponds to the arduino pwm limits
SampleTime = 100L; //default Controller Sample Time is 0.1 seconds
SetControllerDirection(ControllerDirection);
SetTunings(Kp, Ki, Kd);
lastTime = (millis - SampleTime) > 0 ? (millis - SampleTime) : 0;
}
/// <summary>
/// The PID will either be connected to a DIRECT acting process (+Output leads
/// to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
/// know which one, because otherwise we may increase the output when we should
/// be decreasing. This is called from the constructor.
/// </summary>
/// <param name="direction"></param>
public void SetControllerDirection(PidDirection direction)
{
if (inAuto && direction != controllerDirection)
{
kp = (0 - kp);
ki = (0 - ki);
kd = (0 - kd);
}
controllerDirection = direction;
}
