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Use enums instead of defines for parameters #21

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Use enums instead of defines for parameters #21

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8 changes: 4 additions & 4 deletions PID_v1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
* reliable defaults, so we need to have the user set them.
***************************************************************************/
PID::PID(double* Input, double* Output, double* Setpoint,
double Kp, double Ki, double Kd, int ControllerDirection)
double Kp, double Ki, double Kd, direction_t ControllerDirection)
{

myOutput = Output;
Expand Down Expand Up @@ -139,11 +139,11 @@ void PID::SetOutputLimits(double Min, double Max)
}

/* SetMode(...)****************************************************************
* Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
* Allows the controller Mode to be set to MANUAL (0) or AUTOMATIC (1)
* when the transition from manual to auto occurs, the controller is
* automatically initialized
******************************************************************************/
void PID::SetMode(int Mode)
void PID::SetMode(mode_t Mode)
{
bool newAuto = (Mode == AUTOMATIC);
if(newAuto == !inAuto)
Expand Down Expand Up @@ -171,7 +171,7 @@ void PID::Initialize()
* know which one, because otherwise we may increase the output when we should
* be decreasing. This is called from the constructor.
******************************************************************************/
void PID::SetControllerDirection(int Direction)
void PID::SetControllerDirection(direction_t Direction)
{
if(inAuto && Direction !=controllerDirection)
{
Expand Down
17 changes: 8 additions & 9 deletions PID_v1.h
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Expand Up @@ -8,17 +8,16 @@ class PID

public:

//Constants used in some of the functions below
#define AUTOMATIC 1
#define MANUAL 0
#define DIRECT 0
#define REVERSE 1
//Parameter types for some of the functions below
enum mode_t { AUTOMATIC = 1, MANUAL = 0 };
enum direction_t { DIRECT = 0, REVERSE = 1 };

//commonly used functions **************************************************************************
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, int); // Setpoint. Initial tuning parameters are also set here
double, double, double, // Setpoint. Initial tuning parameters are also set here
direction_t);

void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
void SetMode(mode_t); // * sets PID to either MANUAL (0) or AUTOMATIC (1)

bool Compute(); // * performs the PID calculation. it should be
// called every time loop() cycles. ON/OFF and
Expand All @@ -35,8 +34,8 @@ class PID
void SetTunings(double, double, // * While most users will set the tunings once in the
double); // constructor, this function gives the user the option
// of changing tunings during runtime for Adaptive control
void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
// means the output will increase when error is positive. REVERSE
void SetControllerDirection( // * Sets the Direction, or "Action" of the controller. DIRECT
direction_t); // means the output will increase when error is positive. REVERSE
// means the opposite. it's very unlikely that this will be needed
// once it is set in the constructor.
void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
Expand Down
4 changes: 2 additions & 2 deletions examples/PID_AdaptiveTunings/PID_AdaptiveTunings.ino
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Expand Up @@ -22,7 +22,7 @@ double aggKp=4, aggKi=0.2, aggKd=1;
double consKp=1, consKi=0.05, consKd=0.25;

//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint, consKp, consKi, consKd, DIRECT);
PID myPID(&Input, &Output, &Setpoint, consKp, consKi, consKd, PID::DIRECT);

void setup()
{
Expand All @@ -31,7 +31,7 @@ void setup()
Setpoint = 100;

//turn the PID on
myPID.SetMode(AUTOMATIC);
myPID.SetMode(PID::AUTOMATIC);
}

void loop()
Expand Down
4 changes: 2 additions & 2 deletions examples/PID_Basic/PID_Basic.ino
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Expand Up @@ -13,7 +13,7 @@ double Setpoint, Input, Output;

//Specify the links and initial tuning parameters
double Kp=2, Ki=5, Kd=1;
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, PID::DIRECT);

void setup()
{
Expand All @@ -22,7 +22,7 @@ void setup()
Setpoint = 100;

//turn the PID on
myPID.SetMode(AUTOMATIC);
myPID.SetMode(PID::AUTOMATIC);
}

void loop()
Expand Down
4 changes: 2 additions & 2 deletions examples/PID_RelayOutput/PID_RelayOutput.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ double Setpoint, Input, Output;

//Specify the links and initial tuning parameters
double Kp=2, Ki=5, Kd=1;
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, PID::DIRECT);

int WindowSize = 5000;
unsigned long windowStartTime;
Expand All @@ -40,7 +40,7 @@ void setup()
myPID.SetOutputLimits(0, WindowSize);

//turn the PID on
myPID.SetMode(AUTOMATIC);
myPID.SetMode(PID::AUTOMATIC);
}

void loop()
Expand Down