From 5b0b316bc04596ecbbe85e77c88adcb062ef8f03 Mon Sep 17 00:00:00 2001
From: wocute <gitee.ad@932168.com>
Date: Sun, 24 Oct 2021 12:11:07 +0000
Subject: [PATCH] =?UTF-8?q?add=20PID=5FAutoTune=5Fv0.h.=20//=E6=88=91?=
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---
 PID_AutoTune_v0.h | 58 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 58 insertions(+)
 create mode 100644 PID_AutoTune_v0.h

diff --git a/PID_AutoTune_v0.h b/PID_AutoTune_v0.h
new file mode 100644
index 0000000..8520d0a
--- /dev/null
+++ b/PID_AutoTune_v0.h
@@ -0,0 +1,58 @@
+
+//https://codebender.cc/library/PID_AutoTune_v0#PID_AutoTune_v0.h
+
+#ifndef PID_AutoTune_v0
+#define PID_AutoTune_v0
+#define LIBRARY_VERSION	0.0.1
+
+class PID_ATune
+{
+
+
+  public:
+  //commonly used functions **************************************************************************
+    PID_ATune(double*, double*);                       	// * Constructor.  links the Autotune to a given PID
+    int Runtime();						   			   	// * Similar to the PID Compue function, returns non 0 when done
+	void Cancel();									   	// * Stops the AutoTune	
+	
+	void SetOutputStep(double);						   	// * how far above and below the starting value will the output step?	
+	double GetOutputStep();							   	// 
+	
+	void SetControlType(int); 						   	// * Determies if the tuning parameters returned will be PI (D=0)
+	int GetControlType();							   	//   or PID.  (0=PI, 1=PID)			
+	
+	void SetLookbackSec(int);							// * how far back are we looking to identify peaks
+	int GetLookbackSec();								//
+	
+	void SetNoiseBand(double);							// * the autotune will ignore signal chatter smaller than this value
+	double GetNoiseBand();								//   this should be acurately set
+	
+	double GetKp();										// * once autotune is complete, these functions contain the
+	double GetKi();										//   computed tuning parameters.  
+	double GetKd();										//
+	
+  private:
+    void FinishUp();
+	bool isMax, isMin;
+	double *input, *output;
+	double setpoint;
+	double noiseBand;
+	int controlType;
+	bool running;
+	unsigned long 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
+
-- 
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