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Version 2.02
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‎QuickPID.cpp

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/**********************************************************************************
2-
QuickPID Library for Arduino - Version 2.0.1
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QuickPID Library for Arduino - Version 2.0.2
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by dlloydev https://github.com/Dlloydev/QuickPID
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Based on the Arduino PID Library by Brett Beauregard
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@@ -67,17 +67,13 @@ bool QuickPID::Compute()
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/*Working error, Proportional on Measurement and Remaining PID output*/
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if (!pOnE) {
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if (ki < 31) outputSum += FX_INT(FX_MUL(FL_FX(ki), INT_FX(error)));
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else outputSum += (ki * error);
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if (kpd < 31) outputSum -= FX_INT(FX_MUL(FL_FX(kpd), INT_FX(dInput)));
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else outputSum -= (kpd * dInput);
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outputSum += (ki * error);
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outputSum -= (kpd * dInput);
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}
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/*Working error, Proportional on Error and remaining PID output*/
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if (pOnE) {
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if (kpi < 31) outputSum += FX_INT(FX_MUL(FL_FX(kpi), INT_FX(error)));
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else outputSum += (kpi * error);
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if (kd < 31) outputSum -= FX_INT(FX_MUL(FL_FX(kd), INT_FX(dInput)));
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else outputSum -= (kd * dInput);
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outputSum += (kpi * error);
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outputSum -= (kd * dInput);
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}
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if (outputSum > outMax) outputSum = outMax;
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if (outputSum < outMin) outputSum = outMin;

‎QuickPID.h

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@@ -14,14 +14,6 @@ class QuickPID
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#define P_ON_M 0
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#define P_ON_E 1
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// fixed point defines
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#define FL_FX(a) (int32_t)(a*256.0) // float to fixed point
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#define FX_FL(a) (float)(a/256.0) // fixed point to float
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#define INT_FX(a) (a<<8) // integer to fixed point
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#define FX_INT(a) (int32_t)(a>>8) // fixed point to integer
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#define FX_MUL(a,b) ((a*b)>>8) // fixed point multiply
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#define FX_DIV(a,b) ((a/b)<<8) // fixed point divide
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// commonly used functions ************************************************************************************
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‎README.md

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# QuickPID
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3-
This API (version 2.01) follows the [ArduinoPID](https://github.com/br3ttb/Arduino-PID-Library) library, however there have been some significant updates as follows:
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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:
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- Library named as **QuickPID** and can run concurrently with Arduino **PID**
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- Reorganized and more efficient PID algorithms
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- Fast fixed-point calculations for smaller coefficients, floating point calculations for larger coefficients
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- micros() timing resolution
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- Faster analog read function
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- `GetError()`function added for diagnostics
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@@ -21,19 +21,19 @@ This API (version 2.01) follows the [ArduinoPID](https://github.com/br3ttb/Ardui
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### Variables
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| Variable | Arduino PID | QuickPID | Data Type | Resolution | Bits Used | Min | Max |
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| ------------ | ----------- | -------------- | ------------ | -------------------- | --------- | ----------- | ----------- |
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| Setpoint | double | int16_t | Binary | 1 | 10 | 0 | 1023 |
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| Input | double | int16_t | Binary | 1 | 10 | 0 | 1023 |
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| Output | double | uint8_t | Binary | 1 | 8 | 0 | 255 |
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| Kp | double | int32_t, float | s23.8, float | 6-7 digits precision | 4 bytes | | |
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| Ki | double | int32_t, float | s23.8, float | 6-7 digits precision | 4 bytes | | |
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| Kd | double | int32_t, float | s23.8, float | 6-7 digits precision | 4 bytes | | |
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| ratio | double | float | float | 6-7 digits precision | 4 bytes | | |
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| SampleTimeUs | double | uint32_t | Binary | 1 | 32 | 0 | 4294967295 |
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| outputSum | double | int16_t | Binary | 1 | 8 | 0 (limit) | 255 (limit) |
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| error | double | int32_t | Binary | 1 | 32 | -2147483648 | 2147483647 |
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| dInput | double | int32_t | Binary | 1 | 32 | -2147483648 | 2147483647 |
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| Variable | Arduino PID | QuickPID | Data Type | Min | Max |
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| :----------- | :---------- | :------- | :-------- | :--------- | :--------- |
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| Setpoint | double | int16_t | Binary | 0 | 1023 |
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| Input | double | int16_t | Binary | 0 | 1023 |
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| Output | double | uint8_t | Binary | 0 | 255 |
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| Kp | double | float | float | -3.402E+38 | 3.402E+38 |
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| Ki | double | float | float | -3.402E+38 | 3.402E+38 |
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| Kd | double | float | float | -3.402E+38 | 3.402E+38 |
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| ratio | double | float | float | -3.402E+38 | 3.402E+38 |
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| SampleTimeUs | double | uint32_t | Binary | 0 | 4294967295 |
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| outputSum | double | int16_t | Binary | 0 | 255 |
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| error | double | int32_t | Binary | -1023 | 1023 |
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| dInput | double | int32_t | Binary | -1023 | 1023 |
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### Original README
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‎examples/QuickPID_Self_Test/QuickPID_Self_Test.ino

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@@ -53,13 +53,13 @@ void loop()
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Serial.println(",");
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}
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56-
before = micros();
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Input = myQuickPID.analogReadFast(PIN_INPUT);
57+
before = micros();
5858
myQuickPID.Compute();
59-
analogWrite(PIN_OUTPUT, Output);
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after = micros();
60+
analogWrite(PIN_OUTPUT, Output);
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62-
delay(50);
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delay(20);
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cnt++;
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if (cnt == 100) {
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analogWrite(PIN_OUTPUT, 0);

‎library.properties

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name=QuickPID
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version=2.0.1
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version=2.0.2
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author=dlloydev
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maintainer=dlloydev
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sentence=QuickPID controller

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