From 254a35486fa8d8b9195b885bb8e07f4cd6da2777 Mon Sep 17 00:00:00 2001
From: Orhan-Timo Altan <timo.altan@th-koeln.de>
Date: Wed, 3 Aug 2022 20:46:15 +0200
Subject: [PATCH] Angepasst an die Konvention der thk_libs
---
README.md | 48 ++++++++++++++++++++++-
examples/{example.ino => pid_example.ino} | 10 ++---
pid_controller.cpp | 25 ------------
thk_pid_controller.cpp | 25 ++++++++++++
pid_controller.h => thk_pid_controller.h | 4 +-
5 files changed, 77 insertions(+), 35 deletions(-)
rename examples/{example.ino => pid_example.ino} (78%)
delete mode 100644 pid_controller.cpp
create mode 100644 thk_pid_controller.cpp
rename pid_controller.h => thk_pid_controller.h (75%)
diff --git a/README.md b/README.md
index ea61e82..b9a7a5e 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,49 @@
-# BITs PID Controller
+# PID Controller
+
+Mit dieser Bibliothek kann ein PID Regler erzeugt werden, der mit Hilfe einer Führungsgröße und dem Ist-Wert die Regelgröße berechnet.
+
+## **Installation:**
+
+Um diese Klassen verwenden zu können, muss dieses Repository geklont und in das Library-Verzeichnis der Arduino-IDE kopiert werden.<br />
+<br />
+
+## **Anwendung:**
+
+Zur Verwendung siehe zunächst das Beispiel `pid_example.ino`<br />
+<br />
+
+**Einbinden der Bibliothek:**
+```Arduino
+#include <thk_pid_controller.h>
+```
+
+**Instanziieren:**
+```Arduino
+thk_PIDController pid_controller(proportional_gain, integrational_gain, differential_gain, setpoint);
+```
+
+- `proportional_gain`: Proportional Faktor
+- `integrational_gain`: Integral Faktor
+- `differential_gain`: Differential Faktor
+- `setpoint`: Führungsgröße<br />
+<br />
+
+### **Funktionen:**
+
+**Übergeben einer neuen Führungsgröße an den Regler:**
+```Arduino
+pid_controller.set_setpoint(setpoint);
+```
+
+**Berechnen der Regelgröße:**
+```Arduino
+controlled_variable = pid_controller.compute(input_value);
+```
+
+**Zurücksetzen von I- und D-Anteil:**
+```Arduino
+pid_controller.reset();
+```
+
diff --git a/examples/example.ino b/examples/pid_example.ino
similarity index 78%
rename from examples/example.ino
rename to examples/pid_example.ino
index 575199f..c998ce5 100644
--- a/examples/example.ino
+++ b/examples/pid_example.ino
@@ -1,4 +1,4 @@
-#include <pid_controller.h>
+#include <thk_pid_controller.h>
double prop_gain = 0.1;
double int_gain = 0.1;
@@ -8,7 +8,7 @@ double input_value = 0;
uint8_t step = 0;
uint8_t setpoint = 50;
-PIDController pid(prop_gain, int_gain, diff_gain, 0);
+thk_PIDController pid(prop_gain, int_gain, diff_gain, 0);
void setup(){
Serial.begin(115200);
@@ -17,11 +17,7 @@ void setup(){
void loop(){
step++;
- // if (input_value < 70)
- // {
-
- // pid.set_setpoint(100);
- // }
+
input_value = pid.compute(input_value);
if(setpoint - input_value < 0.01)
diff --git a/pid_controller.cpp b/pid_controller.cpp
deleted file mode 100644
index 5334491..0000000
--- a/pid_controller.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-#include <pid_controller.h>
-
-PIDController::PIDController(double Kp, double Ki, double Kd, double setpoint) : Kp(Kp), Ki(Ki), Kd(Kd), setpoint(setpoint) {}
-
-void PIDController::set_setpoint(double setpoint)
-{
- this->setpoint = setpoint;
-}
-
-double PIDController::compute(double input_value)
-{
- double error_value = setpoint - input_value;
-
- out_p = Kp * error_value; // P-Anteil
- out_i += Ki * error_value; // I-Anteil
- out_d -= Kd * error_value; // D-Anteil
-
- return out_p + out_i + out_d;
-}
-
-void PIDController::reset()
-{
- out_i = 0;
- out_d = 0;
-}
\ No newline at end of file
diff --git a/thk_pid_controller.cpp b/thk_pid_controller.cpp
new file mode 100644
index 0000000..2e094ed
--- /dev/null
+++ b/thk_pid_controller.cpp
@@ -0,0 +1,25 @@
+#include <thk_pid_controller.h>
+
+thk_PIDController::thk_PIDController(double Kp, double Ki, double Kd, double setpoint) : Kp(Kp), Ki(Ki), Kd(Kd), setpoint(setpoint) {}
+
+void thk_PIDController::set_setpoint(double setpoint)
+{
+ this->setpoint = setpoint;
+}
+
+double thk_PIDController::compute(double input_value)
+{
+ double error_value = setpoint - input_value;
+
+ out_p = Kp * error_value; // P-Anteil
+ out_i += Ki * error_value; // I-Anteil
+ out_d -= Kd * error_value; // D-Anteil
+
+ return out_p + out_i + out_d;
+}
+
+void thk_PIDController::reset()
+{
+ out_i = 0;
+ out_d = 0;
+}
\ No newline at end of file
diff --git a/pid_controller.h b/thk_pid_controller.h
similarity index 75%
rename from pid_controller.h
rename to thk_pid_controller.h
index 1faf019..3392488 100644
--- a/pid_controller.h
+++ b/thk_pid_controller.h
@@ -3,10 +3,10 @@
#include "Arduino.h"
-class PIDController
+class thk_PIDController
{
public:
- PIDController(double Kp, double Ki, double Kd, double setpoint);
+ thk_PIDController(double Kp, double Ki, double Kd, double setpoint);
double compute(double input_value);
void set_setpoint(double setpoint);
void reset();
--
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