Tasmota/lib/lib_div/ProcessControl/PID.h

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/**
* Copyright 2018 Colin Law
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
**/
/**
* A PID control class
*
* Github repository https://github.com/colinl/process-control.git
*
* Given ...
*
* Usage:
* First call initialise(), see below for parameters then
* ...
* The functions require a parameter nowSecs which is a representation of the
* current time in seconds. The absolute value of this is immaterial, it is
* used for relative timing only.
*
**/
#ifndef PID_h
#define PID_h
class PID {
public:
PID();
/*
Initialiser given
current time in seconds
*/
void initialise( double setpoint, double prop_band, double t_integral, double t_derivative,
double integral_default, int max_interval, double smooth_factor, unsigned char mode_auto, double manual_op );
/* called regularly to calculate and return new power value */
double tick(unsigned long nowSecs);
// call to pass in new process value
void setPv( double pv, unsigned long nowSecs );
// methods to modify configuration data
void setSp( double setpoint );
void setPb( double prop_band );
void setTi( double t_integral );
void setTd( double t_derivative );
void setInitialInt( double integral_default );
void setDSmooth( double smooth_factor );
void setAuto( unsigned char mode_auto );
void setManualPower( double manual_op );
void setMaxInterval( int max_interval );
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double getPv();
double getSp();
double getPb();
double getTi();
double getTd();
double getInitialInt();
double getDSmooth();
unsigned char getAuto();
double getManualPower();
int getMaxInterval();
private:
double m_pv;
double m_setpoint;
double m_prop_band;
double m_t_integral;
double m_t_derivative;
double m_integral_default;
double m_smooth_factor;
unsigned char m_mode_auto;
double m_manual_op;
int m_max_interval;
double m_last_power;
unsigned char m_initialised;
unsigned long m_last_pv_update_time; // the time of last pv update secs
unsigned long m_last_sample_time; // the time of the last tick() run
double m_smoothed_value;
double m_integral;
double m_derivative ;
};
#endif // Timeprop_h