https://github.com/f33rni/petalpid
Lightweight universal PID controller library with Ziegler–Nichols auto tuning and variable cycle time
https://github.com/f33rni/petalpid
arduino arduino-library arm autotune avr blackpill library nichols pid pid-control pid-controller signal-processing stm32duino stm32f103 tuning universal ziegler
Last synced: 3 months ago
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Lightweight universal PID controller library with Ziegler–Nichols auto tuning and variable cycle time
- Host: GitHub
- URL: https://github.com/f33rni/petalpid
- Owner: F33RNI
- License: agpl-3.0
- Created: 2024-08-21T23:05:27.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2024-09-10T09:37:28.000Z (over 1 year ago)
- Last Synced: 2025-03-21T10:54:57.783Z (about 1 year ago)
- Topics: arduino, arduino-library, arm, autotune, avr, blackpill, library, nichols, pid, pid-control, pid-controller, signal-processing, stm32duino, stm32f103, tuning, universal, ziegler
- Language: C++
- Homepage:
- Size: 73.2 KB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# 🌸 PetalPID
## Lightweight universal PID controller library with Ziegler–Nichols auto tuning and variable cycle time
----------
## Perfect PID for your project
**PetalPID** is a floating-point based PID library that can be used on Arduino as well as on any other platform. Even in regular C++ code (it is possible to convert it to pure C). Unlike other libraries, **PetalPID** uses variable cycle time and the same function for the main and tuning loop, making it very easy to implement.
> 🚧 This's not the release version of PetalPID! Please be careful!
----------
## 🏗️ Getting started
> Example of auto-tuning process (this graph is produced by `examples/TemperatureController`)
1. Download or include this repo as a library
Example for PlatformIO:
```ini
lib_deps =
https://github.com/F33RNI/PetalPID.git
```
2. Include header file in your project
```cpp
#include
```
3. Create PetalPID instance
```cpp
PetalPID pid = PetalPID();
// Or
PetalPID pid = PetalPID(1.f, 2.f, 3.f, 0.f, 255.f);
```
4. Setup limits and gains (if you're not starting with auto-tune)
```cpp
pid.set_min_max_output(0.f, 255.f);
pid.set_min_max_integral(-1000.f, 1000.f);
pid.set_gains(1.f, 2.f, 3.f);
```
5. In a main loop...
```cpp
// Without any delays. Call as frequent as possible
float pid_output = pid.calculate(measured_value, setpoint, micros());
```
6. Starting auto-tuning
```cpp
// TYPE_P, TYPE_PI, TYPE_PD, TYPE_CLASSIC_PID, TYPE_PESSEN_INTEGRAL_RULE, TYPE_SOME_OVERSHOOT, TYPE_NO_OVERSHOOT
// 50 on-off cycles
pid.start_auto_tune(TYPE_NO_OVERSHOOT, 50);
```
7. Getting results
```cpp
Serial.print(pid.get_p());
Serial.print("\t");
Serial.print(pid.get_i());
Serial.print("\t");
Serial.println(pid.get_d());
```
**More info in `📄 Documentation` section and `examples/`**
----------
## 📄 Documentation
You can build Doxygen documentation using provided `Doxygen` file
Just clone repo and run:
```shell
doxygen
```
This will generate HTML and LaTeX docs. Open `docs/index.html` file to view it
----------
## 💡 Projects using PetalPID
- [in17clock](https://github.com/F33RNI/in17clock) by Fern Lane
> IN17 Nixie tube clock with internal DC-DC converter, random melody alarm and temperature/humidity sensor
- [ilet-103-motor-controller](https://github.com/F33RNI/ilet-103-motor-controller) be Fern Lane
> Digital speed controller for ILET 103 reel-to-reel deck
Does your project also use **PetalPID**? Add it to this list by creating a pull request or issue!
----------
## ✨ Contribution
1. Clone this repo
```shell
git clone https://github.com/F33RNI/PetalPID
```
2. Follow the `.clang-format` style while editing the code
3. Follow [Conventional Commits](https://www.conventionalcommits.org/en/v1.0.0/#specification>) while creating commits
4. Create pull request