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Update PIDController.cpp #21

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Update PIDController.cpp #21

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24 changes: 20 additions & 4 deletions src/PIDController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,10 @@ PIDController::PIDController () {
void PIDController::begin () {
Kp = 1;
Ki = 1;
aKi = 1;
Kd = 1;
divisor = 10;
aKiDivisor = 1000;
doLimit = false;
init = true;
}
Expand Down Expand Up @@ -64,6 +66,11 @@ void PIDController::minimize (double newMinimize) {
divisor = newMinimize;
}

void PIDController::adaptiveRetune (double newFactor) {
aKiDivisor = newValue;
doAdaption = true;
}

// Getters
double PIDController::getOutput () {
return output;
Expand All @@ -78,19 +85,28 @@ double PIDController::compute (double sensor, String graph, String verbose) {
if (!init) return 0;

// Calculate time difference since last time executed
unsigned long now = millis();
unsigned long now = micros();
double timeChange = (double)(now - lastTime);

// Failsafe, return unchanged to prevent divide by 0 what results in NaN
if (timeChange < 1.0) return output;

// Calculate error (P, I and D)
double error = setPoint - sensor;
error = setPoint - sensor;

// Calculate adaptive Ki
if (doAdaption) {
aKi = setPoint / aKiDivisor;
}

errSum += error * timeChange;
if (doLimit) {
errSum = constrain(errSum, minOut * 1.1, maxOut * 1.1);
}
double dErr = (error - lastErr) / timeChange;
dErr = (error - lastErr) / timeChange;

// Calculate the new output by adding all three elements together
double newOutput = (Kp * error + Ki * errSum + Kd * dErr) / divisor;
double newOutput = (Kp * error + Ki * aKi * errSum + Kd * dErr) / divisor;

// If limit is specifyed, limit the output
if (doLimit) {
Expand Down