Version 1.2

-Added capability for Proportional On Measurement
-Changed license from GPLv3 to MIT

Author: br3ttb

PID_v1.cpp

@@ -14,36 +14,47 @@
 #include <PID_v1.h>
 
 /*Constructor (...)*********************************************************
- *    The parameters specified here are those for for which we can't set up 
+ *    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.
  ***************************************************************************/
 PID::PID(double* Input, double* Output, double* Setpoint,
-        double Kp, double Ki, double Kd, int ControllerDirection)
+        double Kp, double Ki, double Kd, int POn, int ControllerDirection)
 {
-	
     myOutput = Output;
     myInput = Input;
     mySetpoint = Setpoint;
-	inAuto = false;
-	
-	PID::SetOutputLimits(0, 255);				//default output limit corresponds to 
+    inAuto = false;
+
+    PID::SetOutputLimits(0, 255);				//default output limit corresponds to
 												//the arduino pwm limits
 
     SampleTime = 100;							//default Controller Sample Time is 0.1 seconds
 
     PID::SetControllerDirection(ControllerDirection);
-    PID::SetTunings(Kp, Ki, Kd);
+    PID::SetTunings(Kp, Ki, Kd, POn);
 
-    lastTime = millis()-SampleTime;				
+    lastTime = millis()-SampleTime;
 }
- 
- 
+
+/*Constructor (...)*********************************************************
+ *    To allow backwards compatability for v1.1, or for people that just want
+ *    to use Proportional on Error without explicitly saying so
+ ***************************************************************************/
+
+PID::PID(double* Input, double* Output, double* Setpoint,
+        double Kp, double Ki, double Kd, int ControllerDirection)
+    :PID::PID(Input, Output, Setpoint, Kp, Ki, Kd, P_ON_E, ControllerDirection)
+{
+
+}
+
+
 /* Compute() **********************************************************************
  *     This, as they say, is where the magic happens.  this function should be called
  *   every time "void loop()" executes.  the function will decide for itself whether a new
  *   pid Output needs to be computed.  returns true when the output is computed,
  *   false when nothing has been done.
- **********************************************************************************/ 
+ **********************************************************************************/
 bool PID::Compute()
 {
    if(!inAuto) return false;
@@ -52,55 +63,73 @@ bool PID::Compute()
    if(timeChange>=SampleTime)
    {
       /*Compute all the working error variables*/
-	  double input = *myInput;
+      double input = *myInput;
       double error = *mySetpoint - input;
-      ITerm+= (ki * error);
-      if(ITerm > outMax) ITerm= outMax;
-      else if(ITerm < outMin) ITerm= outMin;
       double dInput = (input - lastInput);
- 
-      /*Compute PID Output*/
-      double output = kp * error + ITerm- kd * dInput;
-      
-	  if(output > outMax) output = outMax;
+      outputSum+= (ki * error);
+
+      /*Add Proportional on Measurement, if P_ON_M is specified*/
+      if(!pOnE) outputSum-= kp * dInput;
+
+      if(outputSum > outMax) outputSum= outMax;
+      else if(outputSum < outMin) outputSum= outMin;
+
+      /*Add Proportional on Error, if P_ON_E is specified*/
+	   double output;
+      if(pOnE) output = kp * error;
+      else output = 0;
+
+      /*Compute Rest of PID Output*/
+      output += outputSum - kd * dInput;
+
+	    if(output > outMax) output = outMax;
       else if(output < outMin) output = outMin;
-	  *myOutput = output;
-	  
+	    *myOutput = output;
+
       /*Remember some variables for next time*/
       lastInput = input;
       lastTime = now;
-	  return true;
+	    return true;
    }
    else return false;
 }
 
-
 /* SetTunings(...)*************************************************************
- * This function allows the controller's dynamic performance to be adjusted. 
+ * This function allows the controller's dynamic performance to be adjusted.
  * it's called automatically from the constructor, but tunings can also
  * be adjusted on the fly during normal operation
- ******************************************************************************/ 
-void PID::SetTunings(double Kp, double Ki, double Kd)
+ ******************************************************************************/
+void PID::SetTunings(double Kp, double Ki, double Kd, int POn)
 {
    if (Kp<0 || Ki<0 || Kd<0) return;
- 
+
+   pOn = POn;
+   pOnE = POn == P_ON_E;
+
    dispKp = Kp; dispKi = Ki; dispKd = Kd;
-   
-   double SampleTimeInSec = ((double)SampleTime)/1000;  
+
+   double SampleTimeInSec = ((double)SampleTime)/1000;
    kp = Kp;
    ki = Ki * SampleTimeInSec;
    kd = Kd / SampleTimeInSec;
- 
+
   if(controllerDirection ==REVERSE)
    {
       kp = (0 - kp);
       ki = (0 - ki);
       kd = (0 - kd);
    }
 }
-  
+
+/* SetTunings(...)*************************************************************
+ * Set Tunings using the last-rembered POn setting
+ ******************************************************************************/
+void PID::SetTunings(double Kp, double Ki, double Kd){
+    SetTunings(Kp, Ki, Kd, pOn); 
+}
+
 /* SetSampleTime(...) *********************************************************
- * sets the period, in Milliseconds, at which the calculation is performed	
+ * sets the period, in Milliseconds, at which the calculation is performed
  ******************************************************************************/
 void PID::SetSampleTime(int NewSampleTime)
 {
@@ -113,7 +142,7 @@ void PID::SetSampleTime(int NewSampleTime)
       SampleTime = (unsigned long)NewSampleTime;
    }
 }
- 
+
 /* SetOutputLimits(...)****************************************************
  *     This function will be used far more often than SetInputLimits.  while
  *  the input to the controller will generally be in the 0-1023 range (which is
@@ -127,22 +156,22 @@ void PID::SetOutputLimits(double Min, double Max)
    if(Min >= Max) return;
    outMin = Min;
    outMax = Max;
- 
+
    if(inAuto)
    {
 	   if(*myOutput > outMax) *myOutput = outMax;
 	   else if(*myOutput < outMin) *myOutput = outMin;
-	 
-	   if(ITerm > outMax) ITerm= outMax;
-	   else if(ITerm < outMin) ITerm= outMin;
+
+	   if(outputSum > outMax) outputSum= outMax;
+	   else if(outputSum < outMin) outputSum= outMin;
    }
 }
 
 /* SetMode(...)****************************************************************
  * 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);
@@ -152,21 +181,21 @@ void PID::SetMode(int Mode)
     }
     inAuto = newAuto;
 }
- 
+
 /* Initialize()****************************************************************
  *	does all the things that need to happen to ensure a bumpless transfer
  *  from manual to automatic mode.
- ******************************************************************************/ 
+ ******************************************************************************/
 void PID::Initialize()
 {
-   ITerm = *myOutput;
+   outputSum = *myOutput;
    lastInput = *myInput;
-   if(ITerm > outMax) ITerm = outMax;
-   else if(ITerm < outMin) ITerm = outMin;
+   if(outputSum > outMax) outputSum = outMax;
+   else if(outputSum < outMin) outputSum = outMin;
 }
 
 /* SetControllerDirection(...)*************************************************
- * The PID will either be connected to a DIRECT acting process (+Output leads 
+ * 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.
@@ -175,16 +204,16 @@ void PID::SetControllerDirection(int Direction)
 {
    if(inAuto && Direction !=controllerDirection)
    {
-	  kp = (0 - kp);
+	    kp = (0 - kp);
       ki = (0 - ki);
       kd = (0 - kd);
-   }   
+   }
    controllerDirection = Direction;
 }
 
 /* Status Funcions*************************************************************
  * Just because you set the Kp=-1 doesn't mean it actually happened.  these
- * functions query the internal state of the PID.  they're here for display 
+ * functions query the internal state of the PID.  they're here for display
  * purposes.  this are the functions the PID Front-end uses for example
  ******************************************************************************/
 double PID::GetKp(){ return  dispKp; }

PID_v1.h

@@ -13,8 +13,14 @@ class PID
   #define MANUAL	0
   #define DIRECT  0
   #define REVERSE  1
+  #define P_ON_M 0
+  #define P_ON_E 1
 
   //commonly used functions **************************************************************************
+    PID(double*, double*, double*,        // * constructor.  links the PID to the Input, Output, and 
+        double, double, double, int, int);//   Setpoint.  Initial tuning parameters are also set here.
+                                          //   (overload for specifying proportional mode)
+
     PID(double*, double*, double*,        // * constructor.  links the PID to the Input, Output, and 
         double, double, double, int);     //   Setpoint.  Initial tuning parameters are also set here
 
@@ -25,16 +31,19 @@ class PID
                                           //   calculation frequency can be set using SetMode
                                           //   SetSampleTime respectively
 
-    void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
-										  //it's likely the user will want to change this depending on
-										  //the application
+    void SetOutputLimits(double, double); // * clamps the output to a specific range. 0-255 by default, but
+										                      //   it's likely the user will want to change this depending on
+										                      //   the application
 
 
 
   //available but not commonly used functions ********************************************************
     void SetTunings(double, double,       // * While most users will set the tunings once in the 
-                    double);         	  //   constructor, this function gives the user the option
+                    double);         	    //   constructor, this function gives the user the option
                                           //   of changing tunings during runtime for Adaptive control
+    void SetTunings(double, double,       // * overload for specifying proportional mode
+                    double, int);         	  
+
 	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
@@ -63,18 +72,19 @@ class PID
     double kd;                  // * (D)erivative Tuning Parameter
 
 	int controllerDirection;
+	int pOn;
 
     double *myInput;              // * Pointers to the Input, Output, and Setpoint variables
     double *myOutput;             //   This creates a hard link between the variables and the 
     double *mySetpoint;           //   PID, freeing the user from having to constantly tell us
                                   //   what these values are.  with pointers we'll just know.
 
 	unsigned long lastTime;
-	double ITerm, lastInput;
+	double outputSum, lastInput;
 
 	unsigned long SampleTime;
 	double outMin, outMax;
-	bool inAuto;
+	bool inAuto, pOnE;
 };
 #endif
 

README.txt

@@ -1,8 +1,8 @@
 ***************************************************************
-* Arduino PID Library - Version 1.1.1
+* Arduino PID Library - Version 1.2.0
 * by Brett Beauregard <[email protected]> brettbeauregard.com
 *
-* This Library is licensed under a GPLv3 License
+* This Library is licensed under the MIT License
 ***************************************************************
 
  - For an ultra-detailed explanation of why the code is the way it is, please visit: 

examples/PID_PonM/PID_PonM.ino

@@ -0,0 +1,36 @@
+/********************************************************
+ * PID Proportional on measurement Example
+ * Setting the PID to use Proportional on measurement will 
+ * make the output move more smoothly when the setpoint 
+ * is changed.  In addition, it can eliminate overshoot
+ * in certain processes like sous-vides.
+ ********************************************************/
+
+#include <PID_v1.h>
+
+//Define Variables we'll be connecting to
+double Setpoint, Input, Output;
+
+//Specify the links and initial tuning parameters
+PID myPID(&Input, &Output, &Setpoint,2,5,1,P_ON_M, DIRECT); //P_ON_M specifies that Proportional on Measurement be used
+                                                            //P_ON_E (Proportional on Error) is the default behavior
+
+void setup()
+{
+  //initialize the variables we're linked to
+  Input = analogRead(0);
+  Setpoint = 100;
+
+  //turn the PID on
+  myPID.SetMode(AUTOMATIC);
+}
+
+void loop()
+{
+  Input = analogRead(0);
+  myPID.Compute();
+  analogWrite(3,Output);
+}
+
+
+

keywords.txt

@@ -31,4 +31,6 @@ GetDirection	KEYWORD2
 AUTOMATIC	LITERAL1
 MANUAL	LITERAL1
 DIRECT	LITERAL1
-REVERSE	LITERAL1
+REVERSE	LITERAL1
+P_ON_E	LITERAL1
+P_ON_M	LITERAL1

library.properties

@@ -1,5 +1,5 @@
 name=PID
-version=1.1.1
+version=1.2.0
 author=Brett Beauregard 
 maintainer=Brett Beauregard
 sentence=PID controller