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56 lines
1.6 KiB
56 lines
1.6 KiB
9 years ago
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#ifndef PID_AutoTune_v0
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#define PID_AutoTune_v0
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#define LIBRARY_VERSION 0.0.1
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class PID_ATune
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{
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public:
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//commonly used functions **************************************************************************
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PID_ATune(double*, double*); // * Constructor. links the Autotune to a given PID
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int Runtime(); // * Similar to the PID Compue function, returns non 0 when done
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void Cancel(); // * Stops the AutoTune
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void SetOutputStep(double); // * how far above and below the starting value will the output step?
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double GetOutputStep(); //
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void SetControlType(int); // * Determies if the tuning parameters returned will be PI (D=0)
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int GetControlType(); // or PID. (0=PI, 1=PID)
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void SetLookbackSec(int); // * how far back are we looking to identify peaks
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int GetLookbackSec(); //
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void SetNoiseBand(double); // * the autotune will ignore signal chatter smaller than this value
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double GetNoiseBand(); // this should be acurately set
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double GetKp(); // * once autotune is complete, these functions contain the
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double GetKi(); // computed tuning parameters.
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double GetKd(); //
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private:
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void FinishUp();
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bool isMax, isMin;
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double *input, *output;
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double setpoint;
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double noiseBand;
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int controlType;
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bool running;
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unsigned long peak1, peak2, lastTime;
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int sampleTime;
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int nLookBack;
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int peakType;
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double lastInputs[101];
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double peaks[10];
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int peakCount;
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bool justchanged;
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bool justevaled;
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double absMax, absMin;
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double oStep;
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double outputStart;
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double Ku, Pu;
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};
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#endif
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