Update variables and readme

Author: Dlloydev

QuickPID.cpp

@@ -18,7 +18,7 @@
    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(int16_t* Input, uint8_t* Output, int16_t* Setpoint,
+QuickPID::QuickPID(int16_t* Input, int16_t* Output, int16_t* Setpoint,
                    float Kp, float Ki, float Kd, bool POn, bool ControllerDirection)
 {
   myOutput = Output;
@@ -40,7 +40,7 @@ QuickPID::QuickPID(int16_t* Input, uint8_t* Output, int16_t* Setpoint,
    to use Proportional on Error without explicitly saying so.
  **********************************************************************************/
 
-QuickPID::QuickPID(int16_t* Input, uint8_t* Output, int16_t* Setpoint,
+QuickPID::QuickPID(int16_t* Input, int16_t* Output, int16_t* Setpoint,
                    float Kp, float Ki, float Kd, bool ControllerDirection)
   : QuickPID::QuickPID(Input, Output, Setpoint, Kp, Ki, Kd, P_ON_E, ControllerDirection)
 {
@@ -143,7 +143,7 @@ void QuickPID::SetSampleTimeUs(uint32_t NewSampleTimeUs)
    the default already, the required output limits might be unique, like using
    a time window of 0-8000 needing to clamp it from 0-125.
  ******************************************************************************/
-void QuickPID::SetOutputLimits(uint8_t Min, uint8_t Max)
+void QuickPID::SetOutputLimits(int16_t Min, int16_t Max)
 {
   if (Min >= Max) return;
   outMin = Min;

QuickPID.h

@@ -18,10 +18,10 @@ class QuickPID
     // commonly used functions ************************************************************************************
 
     // Constructor. Links the PID to Input, Output, Setpoint and initial Tuning Parameters.
-    QuickPID(int16_t*, uint8_t*, int16_t*, float, float, float, bool, bool);
+    QuickPID(int16_t*, int16_t*, int16_t*, float, float, float, bool, bool);
 
     // Overload constructor with proportional mode. Links the PID to Input, Output, Setpoint and Tuning Parameters.
-    QuickPID(int16_t*, uint8_t*, int16_t*, float, float, float, bool);
+    QuickPID(int16_t*, int16_t*, int16_t*, float, float, float, bool);
 
     // Sets PID to either Manual (0) or Auto (non-0).
     void SetMode(bool Mode);
@@ -32,7 +32,7 @@ class QuickPID
 
     // 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(uint8_t, uint8_t);
+    void SetOutputLimits(int16_t, int16_t);
 
     // available but not commonly used functions ******************************************************************
 
@@ -78,14 +78,13 @@ class QuickPID
     bool pOn;
 
     int16_t *myInput;      // Pointers to the Input, Output, and Setpoint variables. This creates a
-    uint8_t *myOutput;     // hard link between the variables and the PID, freeing the user from having
+    int16_t *myOutput;     // hard link between the variables and the PID, freeing the user from having
     int16_t *mySetpoint;   // to constantly tell us what these values are. With pointers we'll just know.
 
     uint32_t SampleTimeUs, lastTime;
+    int16_t outMin, outMax, error;
     int16_t lastInput, outputSum;
-    uint8_t outMin, outMax;
     bool inAuto, pOnE;
-    int32_t error;
 };
 
 #endif

README.md

@@ -18,22 +18,26 @@ This API (version 2.02) follows the [ArduinoPID](https://github.com/br3ttb/Ardui
 | QuickPID                             | 2.0  | 5.0  | 0.2  | 132            |
 | Arduino PID                          | 2.0  | 5.0  | 0.2  | 224            |
 
+#### Self Test Example (RC Filter): P_ON_M
+
+![pid_self_test_pom](https://user-images.githubusercontent.com/63488701/104115407-2cee5900-52dd-11eb-9b24-ff06d39fd2d6.gif)
+
 ### Variables
 
 
-| Variable     | Arduino PID | QuickPID | Data Type | Min        | Max        |
-| :----------- | :---------- | :------- | :-------- | :--------- | :--------- |
-| Setpoint     | double      | int16_t  | Binary    | 0          | 1023       |
-| Input        | double      | int16_t  | Binary    | 0          | 1023       |
-| Output       | double      | uint8_t  | Binary    | 0          | 255        |
-| Kp           | double      | float    | float     | -3.402E+38 | 3.402E+38  |
-| Ki           | double      | float    | float     | -3.402E+38 | 3.402E+38  |
-| Kd           | double      | float    | float     | -3.402E+38 | 3.402E+38  |
-| ratio        | double      | float    | float     | -3.402E+38 | 3.402E+38  |
-| SampleTimeUs | double      | uint32_t | Binary    | 0          | 4294967295 |
-| outputSum    | double      | int16_t  | Binary    | 0          | 255        |
-| error        | double      | int32_t  | Binary    | -1023      | 1023       |
-| dInput       | double      | int32_t  | Binary    | -1023      | 1023       |
+| Variable     | Arduino PID | QuickPID |
+| :----------- | :---------- | :------- |
+| Setpoint     | double      | int16_t  |
+| Input        | double      | int16_t  |
+| Output       | double      | int16_t  |
+| Kp           | double      | float    |
+| Ki           | double      | float    |
+| Kd           | double      | float    |
+| ratio        | double      | float    |
+| SampleTimeUs | double      | uint32_t |
+| outputSum    | double      | int16_t  |
+| error        | double      | int16_t  |
+| dInput       | double      | int16_t  |
 
 ### Original README
 

examples/QuickPID_Self_Test/QuickPID_Self_Test.ino

@@ -11,12 +11,12 @@
 #define PIN_OUTPUT  3
 
 //Define Variables
-int16_t Setpoint = 700;
-int16_t Input;
-uint8_t Output;
+int Setpoint = 700;
+int Input;
+int Output;
 
-uint32_t before, after;
-uint16_t cnt = 0;
+unsigned long before, after;
+int cnt = 0;
 
 //Specify the initial tuning parameters
 float Kp = 2.0, Ki = 15.0, Kd = 0.05;