/**********************************************************************************************
?*?Arduino?PID?Library?-?Version?1.1.1
?*?by?Brett?Beauregard??brettbeauregard.com
?*
?*?This?Library?is?licensed?under?a?GPLv3?License
?**********************************************************************************************/

#if?ARDUINO?>=?100
??#include?“Arduino.h“
#else
??#include?“WProgram.h“
#endif

#include?

/*Constructor?（...）*********************************************************
?*????The?parameters?specified?here?are?those?for?for?which?we?can‘t?set?up?
?*????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）
{
	
????myOutput?=?Output;
????myInput?=?Input;
????mySetpoint?=?Setpoint;
	inAuto?=?false;
	
	PID::SetOutputLimits（0?255）;				//default?output?limit?corresponds?to?
												//the?arduino?pwm?limits

????SampleTime?=?100;							//default?Controller?Sample?Time?is?0.1?seconds

????PID::SetControllerDirection（ControllerDirection）;
????PID::SetTunings（Kp?Ki?Kd）;

????lastTime?=?millis（）-SampleTime;				
}
?
?
/*?Compute（）?**********************************************************************
?*?????This?as?they?say?is?where?the?magic?happens.??this?function?should?be?called
?*???every?time?“void?loop（）“?executes.??the?function?will?decide?for?itself?whether?a?new
?*???pid?Output?needs?to?be?computed.??returns?true?when?the?output?is?computed
?*???false?when?nothing?has?been?done.
?**********************************************************************************/?
bool?PID::Compute（）
{
???if（!inAuto）?return?false;
???unsigned?long?now?=?millis（）;
???unsigned?long?timeChange?=?（now?-?lastTime）;
???if（timeChange>=SampleTime）
???{
??????/*Compute?all?the?working?error?variables*/
	??double?input?=?*myInput;
??????double?error?=?*mySetpoint?-?input;
??????ITerm+=?（ki?*?error）;
??????if（ITerm?>?outMax）?ITerm=?outMax;
??????else?if（ITerm???????double?dInput?=?（input?-?lastInput）;
?
??????/*Compute?PID?Output*/
??????double?output?=?kp?*?error?+?ITerm-?kd?*?dInput;
??????
	??if（output?>?outMax）?output?=?outMax;
??????else?if（output?	??*myOutput?=?output;
	??
??????/*Remember?some?variables?for?next?time*/
??????lastInput?=?input;
??????lastTime?=?now;
	??return?true;
???}
???else?return?false;
}


/*?SetTunings（...）*************************************************************
?*?This?function?allows?the?controller‘s?dynamic?performance?to?be?adjusted.?
?*?it‘s?called?automatically?from?the?constructor?but?tunings?can?also
?*?be?adjusted?on?the?fly?during?normal?operation
?******************************************************************************/?
void?PID::SetTunings（double?Kp?double?Ki?double?Kd）
{
???if?（Kp<0?||?Ki<0?||?Kd<0）?return;
?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2015-05-10?18:38??Arduino-PID-Library-master\
?????文件????????6918??2015-05-10?18:38??Arduino-PID-Library-master\PID_v1.cpp
?????文件????????3454??2015-05-10?18:38??Arduino-PID-Library-master\PID_v1.h
?????文件?????????532??2015-05-10?18:38??Arduino-PID-Library-master\README.txt
?????目錄???????????0??2015-05-10?18:38??Arduino-PID-Library-master\examples\
?????目錄???????????0??2015-05-10?18:38??Arduino-PID-Library-master\examples\PID_AdaptiveTunings\
?????文件????????1535??2015-05-10?18:38??Arduino-PID-Library-master\examples\PID_AdaptiveTunings\PID_AdaptiveTunings.ino
?????目錄???????????0??2015-05-10?18:38??Arduino-PID-Library-master\examples\PID_Basic\
?????文件?????????737??2015-05-10?18:38??Arduino-PID-Library-master\examples\PID_Basic\PID_Basic.ino
?????目錄???????????0??2015-05-10?18:38??Arduino-PID-Library-master\examples\PID_RelayOutput\
?????文件????????1809??2015-05-10?18:38??Arduino-PID-Library-master\examples\PID_RelayOutput\PID_RelayOutput.ino
?????文件?????????743??2015-05-10?18:38??Arduino-PID-Library-master\keywords.txt
?????文件?????????549??2015-05-10?18:38??Arduino-PID-Library-master\library.json
?????文件?????????392??2015-05-10?18:38??Arduino-PID-Library-master\library.properties