Update

- Changed Input, Output and Setpoint parameters to float.
- Fix recent compile issue for AVR boards

Author: Dlloydev

QuickPID.cpp

@@ -1,5 +1,5 @@
 /**********************************************************************************
-   QuickPID Library for Arduino - Version 2.2.5
+   QuickPID Library for Arduino - Version 2.2.6
    by dlloydev https://github.com/Dlloydev/QuickPID
    Based on the Arduino PID Library, licensed under the MIT License
  **********************************************************************************/
@@ -9,13 +9,14 @@
 #else
 #include "WProgram.h"
 #endif
+
 #include "QuickPID.h"
 
 /* Constructor ********************************************************************
    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.
  **********************************************************************************/
-QuickPID::QuickPID(int* Input, int* Output, int* Setpoint,
+QuickPID::QuickPID(float* Input, float* Output, float* Setpoint,
                    float Kp, float Ki, float Kd, float POn = 1, uint8_t ControllerDirection = 0) {
 
   myOutput = Output;
@@ -35,7 +36,7 @@ QuickPID::QuickPID(int* Input, int* Output, int* Setpoint,
    To allow backwards compatability for v1.1, or for people that just want
    to use Proportional on Error without explicitly saying so.
  **********************************************************************************/
-QuickPID::QuickPID(int* Input, int* Output, int* Setpoint,
+QuickPID::QuickPID(float* Input, float* Output, float* Setpoint,
                    float Kp, float Ki, float Kd, uint8_t ControllerDirection)
   : QuickPID::QuickPID(Input, Output, Setpoint, Kp, Ki, Kd, pOn = 1, ControllerDirection = 0) {
 

QuickPID.h

@@ -21,10 +21,10 @@ static const byte TRY_AUTOMATIC = 1;
     // commonly used functions ************************************************************************************
 
     // Constructor. Links the PID to Input, Output, Setpoint and initial Tuning Parameters.
-    QuickPID(int*, int*, int*, float, float, float, float, uint8_t);
+    QuickPID(float*, float*, float*, float, float, float, float, uint8_t);
 
     // Overload constructor with proportional mode. Links the PID to Input, Output, Setpoint and Tuning Parameters.
-    QuickPID(int*, int*, int*, float, float, float, uint8_t);
+    QuickPID(float*, float*, float*, float, float, float, uint8_t);
 
     // Sets PID to either Manual (0) or Auto (non-0).
     void SetMode(uint8_t Mode);
@@ -92,9 +92,9 @@ static const byte TRY_AUTOMATIC = 1;
 
     uint8_t controllerDirection;
 
-    int *myInput;      // Pointers to the Input, Output, and Setpoint variables. This creates a
-    int *myOutput;     // hard link between the variables and the PID, freeing the user from having
-    int *mySetpoint;   // to constantly tell us what these values are. With pointers we'll just know.
+    float *myInput;      // Pointers to the Input, Output, and Setpoint variables. This creates a
+    float *myOutput;     // hard link between the variables and the PID, freeing the user from having
+    float *mySetpoint;   // to constantly tell us what these values are. With pointers we'll just know.
 
     uint32_t sampleTimeUs, lastTime;
     int outMin, outMax, error;
@@ -112,7 +112,7 @@ static const byte TRY_AUTOMATIC = 1;
 };
 
 #if (defined(ESP32) || defined(ARDUINO_ARCH_ESP32))
-#include "utility/analogWrite.h"
+#include "analogWrite.h"
 #endif
 
 #endif // QuickPID.h

README.md

@@ -52,7 +52,7 @@ The new `kpi` and `kpd` parameters are calculated in the `SetTunings()` function
 #### QuickPID_Constructor
 
 ```c++
-QuickPID::QuickPID(int* Input, int* Output, int* Setpoint,
+QuickPID::QuickPID(float* Input, float* Output, float* Setpoint,
                    float Kp, float Ki, float Kd, float POn, uint8_t ControllerDirection);
 ```
 
@@ -65,7 +65,7 @@ QuickPID::QuickPID(int* Input, int* Output, int* Setpoint,
 - `ControllerDirection` Either DIRECT or REVERSE determines which direction the output will move for a given error. DIRECT is most common.
 
 ```c++
-QuickPID::QuickPID(int* Input, int* Output, int* Setpoint,
+QuickPID::QuickPID(float* Input, float* Output, float* Setpoint,
                    float Kp, float Ki, float Kd, uint8_t ControllerDirection);
 ```
 
@@ -180,11 +180,10 @@ Use this link for reference. Note that if you're using QuickPID, there's no need
 
 #### [![arduino-library-badge](https://www.ardu-badge.com/badge/QuickPID.svg?)](https://www.ardu-badge.com/QuickPID)
 
-- Added ESP32-S2 support
+#### Version 2.2.6
 
-#### Version 2.2.3
-
-- Updated compatibility with the ESP32 Arduino framework 
+- Changed Input, Output and Setpoint parameters to float.
+- Updated compatibility with the ESP32 AnalogWrite 
 
 #### Version 2.2.2
 

utility/analogWrite.cpp renamed to analogWrite.cpp

@@ -3,8 +3,9 @@
    by dlloydev https://github.com/Dlloydev/ESP32-ESP32S2-AnalogWrite
    This Library is licensed under the MIT License
  **********************************************************************************/
-
 #include <Arduino.h>
+
+#if (defined(ESP32) || defined(ARDUINO_ARCH_ESP32))
 #include "analogWrite.h"
 
 namespace aw {
@@ -18,6 +19,7 @@ pinStatus_t pinsStatus[8] = {
 };
 const uint8_t chd = 1;
 #else //ESP32
+
 pinStatus_t pinsStatus[8] = {
   { 0, -1, 980, 8, 0, 0 }, { 2, -1, 980, 8, 0, 0 },
   { 4, -1, 980, 8, 0, 0 }, { 6, -1, 980, 8, 0, 0 },
@@ -291,3 +293,4 @@ void printPinsStatus() {
     Serial.println();
   }
 }
+#endif //ESP32

utility/analogWrite.h renamed to analogWrite.h

@@ -27,14 +27,16 @@ int tuningRule = 1;           // see above table
 float POn = 1.0;              // mix of PonE to PonM (0.0-1.0)
 unsigned long timeout = 120;  // AutoTune timeout (sec)
 
-int Input, Output, Setpoint;
+float Input, Output, Setpoint;
 float Kp = 0, Ki = 0, Kd = 0;
 
 QuickPID myQuickPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, POn, DIRECT);
 
 void setup()
 {
   Serial.begin(115200);
+  Serial.println();
+
   myQuickPID.AutoTune(inputPin, outputPin, tuningRule, Print, timeout);
   myQuickPID.SetTunings(myQuickPID.GetKp(), myQuickPID.GetKi(), myQuickPID.GetKd());
   myQuickPID.SetSampleTimeUs(5000); // recommend 5000µs (5ms) minimum
@@ -52,7 +54,8 @@ void setup()
     Serial.print("  Kp: "); Serial.print(myQuickPID.GetKp());
     Serial.print("  Ki: "); Serial.print(myQuickPID.GetKi());
     Serial.print("  Kd: "); Serial.println(myQuickPID.GetKd());
-    delay(3000);
+    Serial.println();
+    delay(5000); //view results
   }
 }
 

examples/AutoTune_RC_Filter/AutoTune_RC_Filter.ino

@@ -15,7 +15,7 @@
 #define PIN_OUTPUT 3
 
 //Define Variables we'll be connecting to
-int Setpoint, Input, Output;
+float Setpoint, Input, Output;
 
 //Define the aggressive and conservative and POn Tuning Parameters
 float aggKp = 4, aggKi = 0.2, aggKd = 1;

examples/QuickPID_AdaptiveTunings/QuickPID_AdaptiveTunings.ino

@@ -9,7 +9,7 @@
 #define PIN_OUTPUT 3
 
 //Define Variables we'll be connecting to
-int Setpoint, Input, Output;
+float Setpoint, Input, Output;
 
 //Specify the links and initial tuning parameters
 float Kp = 2, Ki = 5, Kd = 1;

examples/QuickPID_Basic/QuickPID_Basic.ino

@@ -9,7 +9,7 @@
 #include "QuickPID.h"
 
 //Define Variables we'll be connecting to
-int Setpoint, Input, Output;
+float Setpoint, Input, Output;
 float POn = 0.0; // Range is 0.0 to 1.0 (0.0 is 0% P on Error, 100% P on Measurement)
 
 //Specify the links and initial tuning parameters

examples/QuickPID_PonM/QuickPID_PonM.ino

@@ -22,7 +22,7 @@
 #define RELAY_PIN 6
 
 //Define Variables we'll be connecting to
-int Setpoint, Input, Output;
+float Setpoint, Input, Output;
 
 //Specify the links and initial tuning parameters
 float Kp = 2, Ki = 5, Kd = 1;