Merge pull request br3ttb#9 from Dlloydev/work-in-progress

Major update
drf5n · May 20, 2021 · 7f8e049 · 7f8e049
2 parents c688c8d + 323d52e
commit 7f8e049
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diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # QuickPID   [![arduino-library-badge](https://www.ardu-badge.com/badge/QuickPID.svg?)](https://www.ardu-badge.com/QuickPID)
 
-QuickPID is a fast fixed/floating point implementation of the Arduino PID library with built-in [AutoTune](https://github.com/Dlloydev/QuickPID/wiki/AutoTune) class as a dynamic object to reduce memory if not used. This controller can automatically determine and set parameters `Kp, Ki, Kd`. Additionally the Ultimate Gain `Ku`, Ultimate Period `Tu`, Dead Time `td` and determine how easy the process is to control. There are 10 tuning rules available to choose from. Also available is a POn setting that controls the mix of Proportional on Error to Proportional on Measurement.  
+QuickPID is a fast fixed/floating point implementation of the Arduino PID library with built-in [AutoTune](https://github.com/Dlloydev/QuickPID/wiki/AutoTune) class as a dynamic object  to reduce memory if not used, thanks to contributions by [gnalbandian (Gonzalo)](https://github.com/gnalbandian). This controller can automatically determine and set parameters `Kp, Ki, Kd`. Additionally the Ultimate Gain `Ku`, Ultimate Period `Tu`, Dead Time `td` and determine how easy the process is to control. There are 10 tuning rules available to choose from. Also available is a POn setting that controls the mix of Proportional on Error to Proportional on Measurement.  
 
 ### About
 
@@ -164,6 +164,14 @@ Use this link for reference. Note that if you're using QuickPID, there's no need
 
 #### Change Log
 
+#### Version 2.3.0
+
+- New AutoTune class added as a dynamic object to reduce memory if not used, thanks to contributions by [gnalbandian (Gonzalo)](https://github.com/gnalbandian). 
+- AutoTune now works for a reverse acting controller.
+- AutoTune configuration parameters include outputStep, hysteresis, setpoint, output, direction and printOrPlotter.
+- Defined tuningMethod as an enum.
+- Updated AnalogWrite methods for ESP32/ESP32-S2.
+
 #### Version 2.2.8
 
 - AutoTune is now independent of the QuickPID library and can be run from a sketch.  AutoTune is now non-blocking, no timeouts are required and it uses Input and Output variables directly.

diff --git a/examples/AutoTune_Filter_DIRECT/AutoTune_Filter_DIRECT.ino b/examples/AutoTune_Filter_DIRECT/AutoTune_Filter_DIRECT.ino
@@ -23,6 +23,7 @@ int output = 85;          // 1/3 of 8-bit PWM range for symetrical waveform
 
 float Input, Output, Setpoint;
 float Kp = 0, Ki = 0, Kd = 0;
+bool pidLoop = false;
 
 QuickPID _myPID = QuickPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, POn, QuickPID::DIRECT);
 
@@ -33,46 +34,47 @@ void setup() {
     Serial.println(F("AutoTune test exceeds outMax limit. Check output, hysteresis and outputStep values"));
     while (1);
   }
-  _myPID.AutoTune(tuningRule);
+  _myPID.AutoTune(tuningMethod::ZIEGLER_NICHOLS_PID);
   _myPID.autoTune->autoTuneConfig(outputStep, hysteresis, setpoint, output, QuickPID::DIRECT, printOrPlotter);
 }
 
 void loop() {
 
-if (_myPID.autoTune) // Avoid deferencing nullptr after _myPID.clearAutoTune()
-{	
-	uint8_t autoTuningCurrentStage = autoTuneLoop();
-	if(autoTuningCurrentStage < _myPID.autoTune->RUN_PID)
-	{
-		Input = avg(_myPID.analogReadFast(inputPin)); // filtered input
-		analogWrite(outputPin, Output);
-		
-		if (autoTuningCurrentStage == _myPID.autoTune->NEW_TUNINGS) // get new tunings
-		{
-			_myPID.autoTune->setAutoTuneConstants(&Kp, &Ki, &Kd); // set new tunings
-			_myPID.SetMode(QuickPID::AUTOMATIC); // setup PID
-			_myPID.SetTunings(Kp, Ki, Kd, POn); // apply new tunings to PID
-			Setpoint = 500;
-		}
-	}
-	else // RUN_PID stage
-	{
-		if (printOrPlotter == 0) // plotter
-		{
-			_myPID.clearAutoTune(); // releases memory used by AutoTune object
-			Serial.print("Setpoint:");  Serial.print(Setpoint);  Serial.print(",");
-			Serial.print("Input:");     Serial.print(Input);     Serial.print(",");
-			Serial.print("Output:");    Serial.print(Output);    Serial.println();
-       }
-	}
-	
-}
-else // Autotune already done (or not created)
-{
-	Input = _myPID.analogReadFast(inputPin);
+  if (_myPID.autoTune) // Avoid dereferencing nullptr after _myPID.clearAutoTune()
+  {
+    switch (_myPID.autoTune->autoTuneLoop()) {
+      case _myPID.autoTune->AUTOTUNE:
+        Input = avg(_myPID.analogReadFast(inputPin));
+        analogWrite(outputPin, Output);
+        break;
+
+      case _myPID.autoTune->TUNINGS:
+        _myPID.autoTune->setAutoTuneConstants(&Kp, &Ki, &Kd); // set new tunings
+        _myPID.SetMode(QuickPID::AUTOMATIC); // setup PID
+        _myPID.SetSampleTimeUs(10000); // 10ms
+        _myPID.SetTunings(Kp, Ki, Kd, POn); // apply new tunings to PID
+        Setpoint = 500;
+        break;
+
+      case _myPID.autoTune->CLR:
+        if (!pidLoop) {
+          _myPID.clearAutoTune(); // releases memory used by AutoTune object
+          pidLoop = true;
+        }
+        break;
+    }
+  }
+  if (pidLoop) {
+    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);
-}
+  }
+  //delay(1); // adjust loop speed
 }
 
 float avg(int inputVal) {

diff --git a/examples/AutoTune_Filter_REVERSE/AutoTune_Filter_REVERSE.ino b/examples/AutoTune_Filter_REVERSE/AutoTune_Filter_REVERSE.ino
@@ -24,6 +24,7 @@ int output = 85;          // 1/3 of 8-bit PWM range for symetrical waveform
 
 float Input, Output, Setpoint;
 float Kp = 0, Ki = 0, Kd = 0;
+bool pidLoop = false;
 
 QuickPID _myPID = QuickPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, POn, QuickPID::REVERSE);
 
@@ -34,26 +35,37 @@ void setup() {
     Serial.println(F("AutoTune test exceeds outMax limit. Check output, hysteresis and outputStep values"));
     while (1);
   }
-  _myPID.AutoTune(tuningRule);
+  _myPID.AutoTune(tuningMethod::ZIEGLER_NICHOLS_PID);
   _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) // Avoid dereferencing nullptr after _myPID.clearAutoTune()
+  {
+    switch (_myPID.autoTune->autoTuneLoop()) {
+      case _myPID.autoTune->AUTOTUNE:
+        Input = inputMax - avg(_myPID.analogReadFast(inputPin)); // filtered, reverse acting
+        analogWrite(outputPin, Output);
+        break;
 
-  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;
-  }
+      case _myPID.autoTune->TUNINGS:
+        _myPID.autoTune->setAutoTuneConstants(&Kp, &Ki, &Kd); // set new tunings
+        _myPID.SetMode(QuickPID::AUTOMATIC); // setup PID
+        _myPID.SetSampleTimeUs(10000); // 10ms
+        _myPID.SetTunings(Kp, Ki, Kd, POn); // apply new tunings to PID
+        Setpoint = 500;
+        break;
 
-  if (_myPID.autoTune->autoTuneLoop() == _myPID.autoTune->RUN_PID) { // running PID
+      case _myPID.autoTune->CLR:
+        if (!pidLoop) {
+          _myPID.clearAutoTune(); // releases memory used by AutoTune object
+          pidLoop = true;
+        }
+        break;
+    }
+  }
+  if (pidLoop) {
     if (printOrPlotter == 0) { // plotter
       Serial.print("Setpoint:");  Serial.print(Setpoint);  Serial.print(",");
       Serial.print("Input:");     Serial.print(Input);     Serial.print(",");
@@ -63,6 +75,7 @@ void loop() {
     _myPID.Compute();
     analogWrite(outputPin, Output);
   }
+  //delay(1); // adjust loop speed
 }
 
 float avg(int inputVal) {