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Use constants instead of #define for parameters #20

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Use constants instead of #define for parameters #20

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4 changes: 2 additions & 2 deletions PID_v1/Examples/PID_AdaptiveTunings/PID_AdaptiveTunings.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ double aggKp=4, aggKi=0.2, aggKd=1;
double consKp=1, consKi=0.05, consKd=0.25;

//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint, consKp, consKi, consKd, DIRECT);
PID myPID(&Input, &Output, &Setpoint, consKp, consKi, consKd, PID::Direct);

void setup()
{
Expand All @@ -28,7 +28,7 @@ void setup()
Setpoint = 100;

//turn the PID on
myPID.SetMode(AUTOMATIC);
myPID.SetMode(PID::Automatic);
}

void loop()
Expand Down
4 changes: 2 additions & 2 deletions PID_v1/Examples/PID_Basic/PID_Basic.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
double Setpoint, Input, Output;

//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
PID myPID(&Input, &Output, &Setpoint,2,5,1, PID::Direct);

void setup()
{
Expand All @@ -18,7 +18,7 @@ void setup()
Setpoint = 100;

//turn the PID on
myPID.SetMode(AUTOMATIC);
myPID.SetMode(PID::Automatic);
}

void loop()
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4 changes: 2 additions & 2 deletions PID_v1/Examples/PID_RelayOutput/PID_RelayOutput.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
double Setpoint, Input, Output;

//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
PID myPID(&Input, &Output, &Setpoint,2,5,1, PID::Direct);

int WindowSize = 5000;
unsigned long windowStartTime;
Expand All @@ -36,7 +36,7 @@ void setup()
myPID.SetOutputLimits(0, WindowSize);

//turn the PID on
myPID.SetMode(AUTOMATIC);
myPID.SetMode(PID::Automatic);
}

void loop()
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12 changes: 6 additions & 6 deletions PID_v1/PID_v1.cpp
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Expand Up @@ -91,7 +91,7 @@ void PID::SetTunings(double Kp, double Ki, double Kd)
ki = Ki * SampleTimeInSec;
kd = Kd / SampleTimeInSec;

if(controllerDirection ==REVERSE)
if(controllerDirection ==Reverse)
{
kp = (0 - kp);
ki = (0 - ki);
Expand Down Expand Up @@ -139,13 +139,13 @@ void PID::SetOutputLimits(double Min, double Max)
}

/* SetMode(...)****************************************************************
* Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
* Allows the controller Mode to be set to Manual (0) or Automatic (non-zero)
* when the transition from manual to auto occurs, the controller is
* automatically initialized
******************************************************************************/
void PID::SetMode(int Mode)
{
bool newAuto = (Mode == AUTOMATIC);
bool newAuto = (Mode == Automatic);
if(newAuto == !inAuto)
{ /*we just went from manual to auto*/
PID::Initialize();
Expand All @@ -166,8 +166,8 @@ void PID::Initialize()
}

/* SetControllerDirection(...)*************************************************
* 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
* 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.
******************************************************************************/
Expand All @@ -190,6 +190,6 @@ void PID::SetControllerDirection(int Direction)
double PID::GetKp(){ return dispKp; }
double PID::GetKi(){ return dispKi;}
double PID::GetKd(){ return dispKd;}
int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
int PID::GetMode(){ return inAuto ? Automatic : Manual;}
int PID::GetDirection(){ return controllerDirection;}

12 changes: 6 additions & 6 deletions PID_v1/PID_v1.h
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Expand Up @@ -9,10 +9,10 @@ class PID
public:

//Constants used in some of the functions below
#define AUTOMATIC 1
#define MANUAL 0
#define DIRECT 0
#define REVERSE 1
static const int Automatic = 1;
static const int Manual = 0;
static const int Direct = 0;
static const int Reverse = 1;
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It will properly be better to use uint8_t instead of int here. Also why not use enums instead? This would prevent people calling the functions with the wrong argument.

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Because I have almost no idea what I'm doing with C++. 😄 Good suggestion -- I will explore it.


//commonly used functions **************************************************************************
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
Expand All @@ -35,8 +35,8 @@ class PID
void SetTunings(double, double, // * While most users will set the tunings once in the
double); // constructor, this function gives the user the option
// of changing tunings during runtime for Adaptive control
void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
// means the output will increase when error is positive. REVERSE
void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. Direct
// means the output will increase when error is positive. Reverse
// means the opposite. it's very unlikely that this will be needed
// once it is set in the constructor.
void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
Expand Down
8 changes: 4 additions & 4 deletions PID_v1/keywords.txt
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Expand Up @@ -28,7 +28,7 @@ GetDirection KEYWORD2
# Constants (LITERAL1)
#######################################

AUTOMATIC LITERAL1
MANUAL LITERAL1
DIRECT LITERAL1
REVERSE LITERAL1
Automatic LITERAL1
Manual LITERAL1
Direct LITERAL1
Reverse LITERAL1