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#include "PIDAlgo.h"
float PIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral)
{
float error;
float derivative;
float output;
//Calculate P,I,D
error = _setPoint - _mesuredParam;
//In case of error too small then stop integration
if(fabs(error) > params->epsilon)
{
*_integral = *_integral + error*params->dt;
}
derivative = (error - *_pre_error)/params->dt;
output = params->Kp*error + params->Ki**_integral + params->Kd*derivative;
//Saturation Filter
if(output > params->MAX)
{
output = params->MAX;
}
else if(output < params->MIN)
{
output = params->MIN;
}
//Update error
*_pre_error = error;
return output;
}
float AdvancedPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral)
{
float error;
float derivative;
float output;
//Calculate P,I,D
error = _setPoint - _mesuredParam;
//In case of error too small then stop integration
if(fabs(error) > params->epsilon)
{
*_integral = *_integral + error*params->dt;
}
derivative = (error - *_pre_error)/params->dt;
output = params->Kp*error/params->ProportionalErrorMultiplier + params->Ki**_integral/params->IntegralErrorMultiplier + params->Kd*derivative;
//Saturation Filter
if(output > params->MAX)
{
output = params->MAX;
}
else if(output < params->MIN)
{
output = params->MIN;
}
//Update error
*_pre_error = error;
return output;
}
float TestPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral)
{
float error;
float derivative;
float output;
//double error = *mySetpoint - input;
error = _setPoint - _mesuredParam;
//ITerm+= (ki * error);
*_integral = *_integral + (error*params->Ki);
/* if(ITerm > outMax)
{
ITerm= outMax;
}
else if(ITerm < outMin)
{
ITerm= outMin;
} */
if(*_integral > params->MAX)
{
*_integral = params->MAX;
}
else if(*_integral < params->MIN)
{
*_integral = params->MIN;
}
// double dInput = (input - lastInput);
derivative = error - *_pre_error;
/*Compute PID Output*/
// double output = kp * error + ITerm- kd * dInput;
output = params->Kp*error/params->ProportionalErrorMultiplier + *_integral/params->IntegralErrorMultiplier + params->Kd*derivative;
//Saturation Filter
if(output > params->MAX)
{
output = params->MAX;
}
else if(output < params->MIN)
{
output = params->MIN;
}
//Update error
*_pre_error = error;
return output;
}
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