Update1

Author: Dlloydev

examples/AutoTune_Filter_DIRECT/AutoTune_Filter_DIRECT.ino

@@ -0,0 +1,76 @@
+/******************************************************************************
+   AutoTune Filter DIRECT Example
+   Reference: https://github.com/Dlloydev/QuickPID/wiki/AutoTune
+   Circuit: https://github.com/Dlloydev/QuickPID/wiki/AutoTune_RC_Filter
+ ******************************************************************************/
+
+#include "QuickPID.h"
+
+const byte inputPin = 0;
+const byte outputPin = 3;
+
+const int outputMax = 255;
+const int outputMin = 0;
+
+float POn = 1.0;          // mix of PonE to PonM (0.0-1.0)
+
+bool printOrPlotter = 0;  // on(1) monitor, off(0) plotter
+byte tuningRule = 1;      // see reference link
+byte outputStep = 1;
+byte hysteresis = 1;
+int setpoint = 341;       // 1/3 of 10-bit ADC range for symetrical waveform
+int output = 85;          // 1/3 of 8-bit PWM range for symetrical waveform
+
+float Input, Output, Setpoint;
+float Kp = 0, Ki = 0, Kd = 0;
+
+QuickPID _myPID = QuickPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, POn, QuickPID::DIRECT);
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println();
+  if (constrain(output, outputMin, outputMax - outputStep - 5) < output) {
+    Serial.println(F("AutoTune test exceeds outMax limit, check output, hysteresis and outputStep values"));
+    while (1);
+  }
+  _myPID.AutoTune(tuningRule);
+  _myPID.autoTune->autoTuneConfig(outputStep, hysteresis, setpoint, 85, printOrPlotter);
+}
+
+void loop() {
+
+  if (_myPID.autoTune->autoTuneLoop() != _myPID.autoTune->RUN_PID) { // running autotune
+    Input = avg(_myPID.analogReadFast(inputPin)); // filtered input
+    analogWrite(outputPin, Output);
+  }
+
+  if (_myPID.autoTune->autoTuneLoop() == _myPID.autoTune->NEW_TUNINGS) { // get new tunings
+    _myPID.autoTune->setAutoTuneConstants(&Kp, &Ki, &Kd); // set new tunings
+    _myPID.clearAutoTune(); // releases memory used by AutoTune object
+    _myPID.SetMode(QuickPID::AUTOMATIC); // setup PID
+    _myPID.SetTunings(Kp, Ki, Kd, POn); // apply new tunings to PID
+    Setpoint = 500;
+  }
+
+  if (_myPID.autoTune->autoTuneLoop() == _myPID.autoTune->RUN_PID) { // running PID
+    if (printOrPlotter == 0) { // plotter
+      Serial.print("Setpoint:");  Serial.print(Setpoint);  Serial.print(",");
+      Serial.print("Input:");     Serial.print(Input);     Serial.print(",");
+      Serial.print("Output:");    Serial.print(Output);    Serial.println();
+    }
+    Input = _myPID.analogReadFast(inputPin);
+    _myPID.Compute();
+    analogWrite(outputPin, Output);
+  }
+}
+
+float avg(int inputVal) {
+  static int arrDat[16];
+  static int pos;
+  static long sum;
+  pos++;
+  if (pos >= 16) pos = 0;
+  sum = sum - arrDat[pos] + inputVal;
+  arrDat[pos] = inputVal;
+  return (float)sum / 16.0;
+}

examples/AutoTune_Filter_REVERSE/AutoTune_Filter_REVERSE.ino

@@ -0,0 +1,77 @@
+/******************************************************************************
+   AutoTune Filter REVERSE Example
+   Reference: https://github.com/Dlloydev/QuickPID/wiki/AutoTune
+   Circuit: https://github.com/Dlloydev/QuickPID/wiki/AutoTune_RC_Filter
+ ******************************************************************************/
+
+#include "QuickPID.h"
+
+const byte inputPin = 0;
+const byte outputPin = 3;
+
+const int inputMax = 1023;
+const int outputMax = 255;
+const int outputMin = 0;
+
+float POn = 1.0;          // mix of PonE to PonM (0.0-1.0)
+
+bool printOrPlotter = 0;  // on(1) monitor, off(0) plotter
+byte tuningRule = 1;      // see reference link
+byte outputStep = 1;
+byte hysteresis = 1;
+int setpoint = 341;       // 1/3 of 10-bit ADC range for symetrical waveform
+int output = 85;          // 1/3 of 8-bit PWM range for symetrical waveform
+
+float Input, Output, Setpoint;
+float Kp = 0, Ki = 0, Kd = 0;
+
+QuickPID _myPID = QuickPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, POn, QuickPID::REVERSE);
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println();
+  if (constrain(output, outputMin, outputMax - outputStep - 5) < output) {
+    Serial.println(F("AutoTune test exceeds outMax limit, check output, hysteresis and outputStep values"));
+    while (1);
+  }
+  _myPID.AutoTune(tuningRule);
+  _myPID.autoTune->autoTuneConfig(outputStep, hysteresis, inputMax - setpoint, output, QuickPID::REVERSE, printOrPlotter);
+}
+
+void loop() {
+
+  if (_myPID.autoTune->autoTuneLoop() != _myPID.autoTune->RUN_PID) { // running autotune
+    Input = inputMax - avg(_myPID.analogReadFast(inputPin)); // filtered input (reverse acting)
+    analogWrite(outputPin, Output);
+  }
+
+  if (_myPID.autoTune->autoTuneLoop() == _myPID.autoTune->NEW_TUNINGS) { // get new tunings
+    _myPID.autoTune->setAutoTuneConstants(&Kp, &Ki, &Kd); // set new tunings
+    _myPID.clearAutoTune(); // releases memory used by AutoTune object
+    _myPID.SetMode(QuickPID::AUTOMATIC); // setup PID
+    _myPID.SetTunings(Kp, Ki, Kd, POn); // apply new tunings to PID
+    Setpoint = 500;
+  }
+
+  if (_myPID.autoTune->autoTuneLoop() == _myPID.autoTune->RUN_PID) { // running PID
+    if (printOrPlotter == 0) { // plotter
+      Serial.print("Setpoint:");  Serial.print(Setpoint);  Serial.print(",");
+      Serial.print("Input:");     Serial.print(Input);     Serial.print(",");
+      Serial.print("Output:");    Serial.print(Output);    Serial.println();
+    }
+    Input = inputMax - _myPID.analogReadFast(inputPin); // reverse acting
+    _myPID.Compute();
+    analogWrite(outputPin, Output);
+  }
+}
+
+float avg(int inputVal) {
+  static int arrDat[16];
+  static int pos;
+  static long sum;
+  pos++;
+  if (pos >= 16) pos = 0;
+  sum = sum - arrDat[pos] + inputVal;
+  arrDat[pos] = inputVal;
+  return (float)sum / 16.0;
+}