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DlloydevDlloydev
authoredMay 20, 2021
Merge pull request br3ttb#9 from Dlloydev/work-in-progress
Major update
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‎README.md

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Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
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# QuickPID [![arduino-library-badge](https://www.ardu-badge.com/badge/QuickPID.svg?)](https://www.ardu-badge.com/QuickPID)
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QuickPID is a fast fixed/floating point implementation of the Arduino PID library with built-in [AutoTune](https://github.com/Dlloydev/QuickPID/wiki/AutoTune) class as a dynamic object to reduce memory if not used. This controller can automatically determine and set parameters `Kp, Ki, Kd`. Additionally the Ultimate Gain `Ku`, Ultimate Period `Tu`, Dead Time `td` and determine how easy the process is to control. There are 10 tuning rules available to choose from. Also available is a POn setting that controls the mix of Proportional on Error to Proportional on Measurement.
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QuickPID is a fast fixed/floating point implementation of the Arduino PID library with built-in [AutoTune](https://github.com/Dlloydev/QuickPID/wiki/AutoTune) class as a dynamic object to reduce memory if not used, thanks to contributions by [gnalbandian (Gonzalo)](https://github.com/gnalbandian). This controller can automatically determine and set parameters `Kp, Ki, Kd`. Additionally the Ultimate Gain `Ku`, Ultimate Period `Tu`, Dead Time `td` and determine how easy the process is to control. There are 10 tuning rules available to choose from. Also available is a POn setting that controls the mix of Proportional on Error to Proportional on Measurement.
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### About
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#### Change Log
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#### Version 2.3.0
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- New AutoTune class added as a dynamic object to reduce memory if not used, thanks to contributions by [gnalbandian (Gonzalo)](https://github.com/gnalbandian).
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- AutoTune now works for a reverse acting controller.
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- AutoTune configuration parameters include outputStep, hysteresis, setpoint, output, direction and printOrPlotter.
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- Defined tuningMethod as an enum.
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- Updated AnalogWrite methods for ESP32/ESP32-S2.
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#### Version 2.2.8
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- AutoTune is now independent of the QuickPID library and can be run from a sketch. AutoTune is now non-blocking, no timeouts are required and it uses Input and Output variables directly.

‎examples/AutoTune_Filter_DIRECT/AutoTune_Filter_DIRECT.ino

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Original file line numberDiff line numberDiff line change
@@ -23,6 +23,7 @@ int output = 85; // 1/3 of 8-bit PWM range for symetrical waveform
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float Input, Output, Setpoint;
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float Kp = 0, Ki = 0, Kd = 0;
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bool pidLoop = false;
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QuickPID _myPID = QuickPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, POn, QuickPID::DIRECT);
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@@ -33,46 +34,47 @@ void setup() {
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Serial.println(F("AutoTune test exceeds outMax limit. Check output, hysteresis and outputStep values"));
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while (1);
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}
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_myPID.AutoTune(tuningRule);
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_myPID.AutoTune(tuningMethod::ZIEGLER_NICHOLS_PID);
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_myPID.autoTune->autoTuneConfig(outputStep, hysteresis, setpoint, output, QuickPID::DIRECT, printOrPlotter);
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}
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void loop() {
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if (_myPID.autoTune) // Avoid deferencing nullptr after _myPID.clearAutoTune()
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{
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uint8_t autoTuningCurrentStage = autoTuneLoop();
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if(autoTuningCurrentStage < _myPID.autoTune->RUN_PID)
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{
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Input = avg(_myPID.analogReadFast(inputPin)); // filtered input
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analogWrite(outputPin, Output);
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if (autoTuningCurrentStage == _myPID.autoTune->NEW_TUNINGS) // get new tunings
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{
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_myPID.autoTune->setAutoTuneConstants(&Kp, &Ki, &Kd); // set new tunings
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_myPID.SetMode(QuickPID::AUTOMATIC); // setup PID
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_myPID.SetTunings(Kp, Ki, Kd, POn); // apply new tunings to PID
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Setpoint = 500;
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}
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}
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else // RUN_PID stage
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{
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if (printOrPlotter == 0) // plotter
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{
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_myPID.clearAutoTune(); // releases memory used by AutoTune object
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Serial.print("Setpoint:"); Serial.print(Setpoint); Serial.print(",");
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Serial.print("Input:"); Serial.print(Input); Serial.print(",");
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Serial.print("Output:"); Serial.print(Output); Serial.println();
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}
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}
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}
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else // Autotune already done (or not created)
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{
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Input = _myPID.analogReadFast(inputPin);
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if (_myPID.autoTune) // Avoid dereferencing nullptr after _myPID.clearAutoTune()
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{
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switch (_myPID.autoTune->autoTuneLoop()) {
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case _myPID.autoTune->AUTOTUNE:
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Input = avg(_myPID.analogReadFast(inputPin));
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analogWrite(outputPin, Output);
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break;
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case _myPID.autoTune->TUNINGS:
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_myPID.autoTune->setAutoTuneConstants(&Kp, &Ki, &Kd); // set new tunings
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_myPID.SetMode(QuickPID::AUTOMATIC); // setup PID
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_myPID.SetSampleTimeUs(10000); // 10ms
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_myPID.SetTunings(Kp, Ki, Kd, POn); // apply new tunings to PID
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Setpoint = 500;
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break;
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case _myPID.autoTune->CLR:
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if (!pidLoop) {
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_myPID.clearAutoTune(); // releases memory used by AutoTune object
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pidLoop = true;
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}
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break;
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}
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}
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if (pidLoop) {
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if (printOrPlotter == 0) { // plotter
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Serial.print("Setpoint:"); Serial.print(Setpoint); Serial.print(",");
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Serial.print("Input:"); Serial.print(Input); Serial.print(",");
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Serial.print("Output:"); Serial.print(Output); Serial.println();
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}
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Input = _myPID.analogReadFast(inputPin);
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_myPID.Compute();
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analogWrite(outputPin, Output);
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}
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}
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//delay(1); // adjust loop speed
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}
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float avg(int inputVal) {

‎examples/AutoTune_Filter_REVERSE/AutoTune_Filter_REVERSE.ino

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Original file line numberDiff line numberDiff line change
@@ -24,6 +24,7 @@ int output = 85; // 1/3 of 8-bit PWM range for symetrical waveform
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float Input, Output, Setpoint;
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float Kp = 0, Ki = 0, Kd = 0;
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bool pidLoop = false;
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QuickPID _myPID = QuickPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, POn, QuickPID::REVERSE);
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Serial.println(F("AutoTune test exceeds outMax limit. Check output, hysteresis and outputStep values"));
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while (1);
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}
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_myPID.AutoTune(tuningRule);
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_myPID.AutoTune(tuningMethod::ZIEGLER_NICHOLS_PID);
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_myPID.autoTune->autoTuneConfig(outputStep, hysteresis, inputMax - setpoint, output, QuickPID::REVERSE, printOrPlotter);
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}
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void loop() {
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if (_myPID.autoTune->autoTuneLoop() != _myPID.autoTune->RUN_PID) { // running autotune
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Input = inputMax - avg(_myPID.analogReadFast(inputPin)); // filtered input (reverse acting)
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analogWrite(outputPin, Output);
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}
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if (_myPID.autoTune) // Avoid dereferencing nullptr after _myPID.clearAutoTune()
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{
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switch (_myPID.autoTune->autoTuneLoop()) {
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case _myPID.autoTune->AUTOTUNE:
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Input = inputMax - avg(_myPID.analogReadFast(inputPin)); // filtered, reverse acting
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analogWrite(outputPin, Output);
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break;
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if (_myPID.autoTune->autoTuneLoop() == _myPID.autoTune->NEW_TUNINGS) { // get new tunings
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_myPID.autoTune->setAutoTuneConstants(&Kp, &Ki, &Kd); // set new tunings
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_myPID.clearAutoTune(); // releases memory used by AutoTune object
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_myPID.SetMode(QuickPID::AUTOMATIC); // setup PID
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_myPID.SetTunings(Kp, Ki, Kd, POn); // apply new tunings to PID
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Setpoint = 500;
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}
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case _myPID.autoTune->TUNINGS:
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_myPID.autoTune->setAutoTuneConstants(&Kp, &Ki, &Kd); // set new tunings
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_myPID.SetMode(QuickPID::AUTOMATIC); // setup PID
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_myPID.SetSampleTimeUs(10000); // 10ms
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_myPID.SetTunings(Kp, Ki, Kd, POn); // apply new tunings to PID
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Setpoint = 500;
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break;
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if (_myPID.autoTune->autoTuneLoop() == _myPID.autoTune->RUN_PID) { // running PID
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case _myPID.autoTune->CLR:
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if (!pidLoop) {
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_myPID.clearAutoTune(); // releases memory used by AutoTune object
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pidLoop = true;
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}
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break;
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}
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}
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if (pidLoop) {
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if (printOrPlotter == 0) { // plotter
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Serial.print("Setpoint:"); Serial.print(Setpoint); Serial.print(",");
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Serial.print("Input:"); Serial.print(Input); Serial.print(",");
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_myPID.Compute();
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analogWrite(outputPin, Output);
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}
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//delay(1); // adjust loop speed
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}
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float avg(int inputVal) {

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