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Faster AutoPID #6

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Faster AutoPID #6

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15 changes: 7 additions & 8 deletions AutoPID.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,14 +48,14 @@ void AutoPID::run() {
//if bang thresholds are defined and we're outside of them, use bang-bang control
if (_bangOn && ((*_setpoint - *_input) > _bangOn)) {
*_output = _outputMax;
_lastStep = millis();
_lastStep = micros();
} else if (_bangOff && ((*_input - *_setpoint) > _bangOff)) {
*_output = _outputMin;
_lastStep = millis();
_lastStep = micros();
} else { //otherwise use PID control
unsigned long _dT = millis() - _lastStep; //calculate time since last update
unsigned long _dT = micros() - _lastStep; //calculate time since last update
if (_dT >= _timeStep) { //if long enough, do PID calculations
_lastStep = millis();
_lastStep = micros();
double _error = *_setpoint - *_input;
_integral += (_error + _previousError) / 2 * _dT / 1000.0; //Riemann sum integral
//_integral = constrain(_integral, _outputMin/_Ki, _outputMax/_Ki);
Expand All @@ -73,7 +73,7 @@ void AutoPID::stop() {
reset();
}
void AutoPID::reset() {
_lastStep = millis();
_lastStep = micros();
_integral = 0;
_previousError = 0;
}
Expand All @@ -92,13 +92,12 @@ void AutoPID::setIntegral(double integral){

void AutoPIDRelay::run() {
AutoPID::run();
while ((millis() - _lastPulseTime) > _pulseWidth) _lastPulseTime += _pulseWidth;
*_relayState = ((millis() - _lastPulseTime) < (_pulseValue * _pulseWidth));
while ((micros() - _lastPulseTime) > _pulseWidth) _lastPulseTime += _pulseWidth;
*_relayState = ((micros() - _lastPulseTime) < (_pulseValue * _pulseWidth));
}


double AutoPIDRelay::getPulseValue(){
return (isStopped()?0:_pulseValue);
}