Jun 06, 2017 arduino-pid-autotuner. Automated PID tuning using Ziegler-Nichols/relay method on Arduino and compatible boards. How does it work? Pidautotuner.h and pidautotuner.cpp are fully commented to explain how the algorithm works. What PID controller does this work with? Contribute to br3ttb/Arduino-PID-AutoTune-Library development by creating an account on GitHub. Printing the planet, one layer at a time. This command initiates a process of heating and cooling to determine the proper PID values for the specified hotend or the heated bed. 8 pid projects I have used a 1.kk flight controller along with an Arduino Nano and an ultrasonic sensor to add the feature of altitude hold. Drone Altitude Hold Using KK Flight Controller and Arduino. Arduino Create simplifies building a project as a whole, without having to switch between different tools to manage all the aspects of whatever you're making.
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| #ifndef PID_AutoTune_v0 |
| #definePID_AutoTune_v0 |
| #defineLIBRARY_VERSION0.0.1 |
| classPID_ATune |
| { |
| public: |
| //commonly used functions ************************************************************************** |
| PID_ATune(double*, double*); // * Constructor. links the Autotune to a given PID |
| intRuntime(); // * Similar to the PID Compue function, returns non 0 when done |
| voidCancel(); // * Stops the AutoTune |
| voidSetOutputStep(double); // * how far above and below the starting value will the output step? |
| doubleGetOutputStep(); // |
| voidSetControlType(int); // * Determies if the tuning parameters returned will be PI (D=0) |
| intGetControlType(); // or PID. (0=PI, 1=PID) |
| voidSetLookbackSec(int); // * how far back are we looking to identify peaks |
| intGetLookbackSec(); // |
| voidSetNoiseBand(double); // * the autotune will ignore signal chatter smaller than this value |
| doubleGetNoiseBand(); // this should be acurately set |
| doubleGetKp(); // * once autotune is complete, these functions contain the |
| doubleGetKi(); // computed tuning parameters. |
| doubleGetKd(); // |
| private: |
| voidFinishUp(); |
| bool isMax, isMin; |
| double *input, *output; |
| double setpoint; |
| double noiseBand; |
| int controlType; |
| bool running; |
| unsignedlong peak1, peak2, lastTime; |
| int sampleTime; |
| int nLookBack; |
| int peakType; |
| double lastInputs[101]; |
| double peaks[10]; |
| int peakCount; |
| bool justchanged; |
| bool justevaled; |
| double absMax, absMin; |
| double oStep; |
| double outputStart; |
| double Ku, Pu; |
| }; |
| #endif |