Update Readme, add new function

Author: Dlloydev

QuickPID.cpp

@@ -1,5 +1,5 @@
 /**********************************************************************************
-   QuickPID Library for Arduino - Version 2.0.2
+   QuickPID Library for Arduino - Version 2.0.3
    by dlloydev https://github.com/Dlloydev/QuickPID
    Based on the Arduino PID Library by Brett Beauregard
 
@@ -219,15 +219,18 @@ float QuickPID::GetKi() {
 float QuickPID::GetKd() {
   return  dispKd;
 }
-int16_t QuickPID::GetError() {
-  return  error;
-}
 bool QuickPID::GetMode() {
   return  inAuto ? AUTOMATIC : MANUAL;
 }
 bool QuickPID::GetDirection() {
   return controllerDirection;
 }
+int16_t QuickPID::GetError() {
+  return  error;
+}
+bool QuickPID::GetpOnE() {
+  return pOnE;
+}
 
 // Utility functions **********************************************************
 

QuickPID.h

@@ -57,9 +57,10 @@ class QuickPID
     float GetKp();         // These functions query the pid for interal values. They were created mainly for
     float GetKi();         // the pid front-end, where it's important to know what is actually inside the PID.
     float GetKd();
-    int16_t GetError();
     bool GetMode();
     bool GetDirection();
+    int16_t GetError();
+    bool GetpOnE();
 
     // Utility functions ******************************************************************************************
     int analogReadFast(int);

README.md

@@ -1,13 +1,14 @@
 # QuickPID
 
-This API (version 2.02) follows the [ArduinoPID](https://github.com/br3ttb/Arduino-PID-Library) library, however there have been some significant updates as follows:
+This API (version 2.03) follows the [ArduinoPID](https://github.com/br3ttb/Arduino-PID-Library) library, however there have been some significant updates as follows:
 
-- Library named as **QuickPID** and can run concurrently with Arduino **PID**
-- Quicker fixed point math in compute function
+- This library named as **QuickPID** and can run alongside with Arduino **PID** if needed
+- Quicker fixed point math in compute function for small tuning values, floating point math used for large tuning values
 - Reorganized and more efficient PID algorithm
 - micros() timing resolution
 - Faster analog read function
-- `GetError()`function added for diagnostics
+- `GetError()`and `GetpOnE()`functions added for diagnostics and control benefits
+- Runs a complete PID cycle (*read-compute-write*) faster than just an `analogRead()` command  in Arduino
 
 ### Performance
 
@@ -19,9 +20,18 @@ This API (version 2.02) follows the [ArduinoPID](https://github.com/br3ttb/Ardui
 | QuickPID                             | 2.0  | 5.0  | 0.2  | 96             |
 | Arduino PID                          | 2.0  | 5.0  | 0.2  | 224            |
 
-#### Self Test Example (RC Filter): P_ON_M
+#### Self Test Example (RC Filter):
 
-![pid_self_test_pom](https://user-images.githubusercontent.com/63488701/104115407-2cee5900-52dd-11eb-9b24-ff06d39fd2d6.gif)
+This example allows you to set an output voltage, then view the result of your tuning parameters. The mode of the P-Term automatically toggles from Proportional on Error to [Proportional on Measurement.](http://brettbeauregard.com/blog/2017/06/introducing-proportional-on-measurement/)
+
+![pid_self_test_pom](https://user-images.githubusercontent.com/63488701/104389509-a66a8f00-5509-11eb-927b-1190231a1ee9.gif)
+
+### Simplified PID Algorithm 
+
+| Proportional Term Mode      | Algorithm                                     |
+| --------------------------- | --------------------------------------------- |
+| Proportional on Error       | `outputSum += (kpi * error) - (kd * dInput);` |
+| Proportional on Measurement | `outputSum += (ki * error) - (kpd * dInput);` |
 
 ### Variables
 

examples/QuickPID_Self_Test/QuickPID_Self_Test.ino

@@ -25,45 +25,40 @@ QuickPID myQuickPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
 
 void setup()
 {
-  myQuickPID.SetTunings(Kp, Ki, Kd, P_ON_M);
   Serial.begin(115200);
-  analogWrite(PIN_OUTPUT, 0);
-  delay(1000); // discharge capacitor
-  Input = myQuickPID.analogReadFast(PIN_INPUT);
+  myQuickPID.SetTunings(Kp, Ki, Kd, P_ON_E);
   myQuickPID.SetMode(AUTOMATIC);
+  analogWrite(PIN_OUTPUT, 0); // discharge capacitor
+  delay(1000);
 }
 
 void loop()
 {
-  //Serial.println("Min:0,Max:1000"); // set scale
-
-  // Stretch the plot x2
-  for (int i = 0; i <= 1; i++) {
-    Serial.print("Setpoint:");
-    Serial.print(Setpoint);
-    Serial.print(",");
-    Serial.print("Input:");
-    Serial.print(Input);
-    Serial.print(",");
-    Serial.print("Output:");
-    Serial.print(Output);
-    Serial.print(",");
-    Serial.print("Runtime:");
-    Serial.print(after - before);
-    Serial.println(",");
-  }
+  Serial.print("Setpoint:");
+  Serial.print(Setpoint);
+  Serial.print(",");
+  Serial.print("Input:");
+  Serial.print(Input);
+  Serial.print(",");
+  Serial.print("Output:");
+  Serial.print(Output);
+  Serial.print(",");
+  Serial.print("Runtime:");
+  Serial.print(after - before);
+  Serial.println(",");
 
   Input = myQuickPID.analogReadFast(PIN_INPUT);
   before = micros();
   myQuickPID.Compute();
   after = micros();
   analogWrite(PIN_OUTPUT, Output);
 
-  delay(40);
+  delay(10);
   cnt++;
-  if (cnt == 100) {
+  if (cnt == 250) {
     analogWrite(PIN_OUTPUT, 0);
     delay(1000); // discharge capacitor
     cnt = 0;
+    myQuickPID.SetTunings(Kp, Ki, Kd, !(myQuickPID.GetpOnE())); //toggle P-Term mode
   }
 }

keywords.txt

@@ -23,6 +23,7 @@ GetKi	KEYWORD2
 GetKd	KEYWORD2
 GetMode	KEYWORD2
 GetError	KEYWORD2
+GetpOnE	KEYWORD2
 GetDirection	KEYWORD2
 analogReadFast	KEYWORD2
 

library.properties

@@ -1,5 +1,5 @@
 name=QuickPID
-version=2.0.2
+version=2.0.3
 author=dlloydev 
 maintainer=dlloydev
 sentence=QuickPID controller