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

#include?


PID_ATune::PID_ATune（double*?Input?double*?Output）
{
	input?=?Input;
	output?=?Output;
	controlType?=0?;?//default?to?PI
	noiseBand?=?0.5;
	running?=?false;
	oStep?=?30;
	SetLookbackSec（10）;
	lastTime?=?millis（）;
	
}



void?PID_ATune::Cancel（）
{
	running?=?false;
}?
?
int?PID_ATune::Runtime（）
{
	justevaled=false;
	if（peakCount>9?&&?running）
	{
		running?=?false;
		FinishUp（）;
		return?1;
	}
	unsigned?long?now?=?millis（）;
	
	if（（now-lastTime）	lastTime?=?now;
	double?refVal?=?*input;
	justevaled=true;
	if（!running）
	{?//initialize?working?variables?the?first?time?around
		peakType?=?0;
		peakCount=0;
		justchanged=false;
		absMax=refVal;
		absMin=refVal;
		setpoint?=?refVal;
		running?=?true;
		outputStart?=?*output;
		*output?=?outputStart+oStep;
	}
	else
	{
		if（refVal>absMax）absMax=refVal;
		if（refVal	}
	
	//oscillate?the?output?base?on?the?input‘s?relation?to?the?setpoint
	
	if（refVal>setpoint+noiseBand）?*output?=?outputStart-oStep;
	else?if?（refVal	
	
??//bool?isMax=true?isMin=true;
??isMax=true;isMin=true;
??//id?peaks
??for（int?i=nLookBack-1;i>=0;i--）
??{
????double?val?=?lastInputs[i];
????if（isMax）?isMax?=?refVal>val;
????if（isMin）?isMin?=?refVal????lastInputs[i+1]?=?lastInputs[i];
??}
??lastInputs[0]?=?refVal;??
??if（nLookBack<9）
??{??//we?don‘t?want?to?trust?the?maxes?or?mins?until?the?inputs?array?has?been?filled
	return?0;
	}
??
??if（isMax）
??{
????if（peakType==0）peakType=1;
????if（peakType==-1）
????{
??????peakType?=?1;
??????justchanged=true;
??????peak2?=?peak1;
????}
????peak1?=?now;
????peaks[peakCount]?=?refVal;
???
??}
??else?if（isMin）
??{
????if（peakType==0）peakType=-1;
????if（peakType==1）
????{
??????peakType=-1;
??????peakCount++;
??????justchanged=true;
????}
????
????if（peakCount<10）peaks[peakCount]?=?refVal;
??}
??
??if（justchanged?&&?peakCount>2）
??{?//we‘ve?transitioned.??check?if?we?can?autotune?based?on?the?last?peaks
????double?avgSeparation?=?（abs（peaks[peakCount-1]-peaks[peakCount-2]）+abs（peaks[peakCount-2]-peaks[peakCount-3]））/2;
????if（?avgSeparation?????{
		FinishUp（）;
??????running?=?false;
	??return?1;
	?
????}
??}
???justchanged=false;
	return?0;
}
void?PID_ATune::FinishUp（）
{
	??*output?=?outputStart;
??????//we?can?generate?tuning?parameters!
??????Ku?=?4*（2*oStep）/（（absMax-absMin）*3.14159）;
??????Pu?=?（double）（peak1-peak2）?/?1000;
}

double?PID_ATune::GetKp（）
{
	return?controlType==1???0.6?*?Ku?:?0.4?*?Ku;
}

double?PID_ATune::GetKi（）
{
	return?controlType==1??1.2*Ku?/?Pu?:?0.48?*?Ku?/?Pu;??//?Ki?=?Kc/Ti
}

double?PID_ATune::GetKd（）
{
	return?controlType==1??0.075?*?Ku?*?Pu?:?0;??//Kd?=?Kc?*?Td
}

void?PID_ATune::SetOutputS

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件???????3673??2016-10-19?18:31??PID_AutoTune_v0.cpp

?????文件???????1735??2016-10-19?18:32??PID_AutoTune_v0.h

-----------?---------??----------?-----??----

?????????????????5408????????????????????2