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// (Really Simple) PID Class by Ivan Seidel | |
// GitHub.com/ivanseidel | |
// Use as you want. Leave credits | |
class PID{ | |
public: | |
double error; | |
double sample; | |
double lastSample; | |
double kP, kI, kD; | |
double P, I, D; | |
double pid; | |
double setPoint; | |
long lastProcess; | |
PID(double _kP, double _kI, double _kD){ | |
kP = _kP; | |
kI = _kI; | |
kD = _kD; | |
} | |
void addNewSample(double _sample){ | |
sample = _sample; | |
} | |
void setSetPoint(double _setPoint){ | |
setPoint = _setPoint; | |
} | |
double process(){ | |
// Implementação P ID | |
error = setPoint - sample; | |
float deltaTime = (millis() - lastProcess) / 1000; ; | |
lastProcess = millis(); | |
//P | |
P = error * kP; | |
//I | |
I = I + (error * kI) * (deltaTime/1000); | |
//D | |
D = (lastSample - sample) * kD / deltaTime; | |
lastSample = sample; | |
// Soma tudo | |
pid = P + I + D; | |
return pid; | |
} | |
}; | |
#define pSENSOR A1 | |
#define pCONTROLE 3 | |
PID meuPid(1.0, 0, 0); | |
void setup() { | |
Serial.begin(9600); | |
pinMode(pSENSOR, INPUT); | |
pinMode(pCONTROLE, OUTPUT); | |
} | |
int controlePwm = 50; | |
void loop() { | |
// Lê temperatura | |
double temperature = map(analogRead(pSENSOR), 0, 1023, 0, 100); | |
// Manda pro objeto PID! | |
meuPid.addNewSample(temperature); | |
// Converte para controle | |
controlePwm = (meuPid.process() + 50); | |
// Saída do controle | |
analogWrite(pCONTROLE, controlePwm); | |
} |
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