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PID regulatior init fix

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This commit is contained in:
Andrey Klimov
2022-01-07 12:56:01 +03:00
parent 07046680e0
commit a7f5c67ab2
1 changed files with 17 additions and 14 deletions
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31
lighthub/modules/out_pid.cpp
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@@ -23,7 +23,7 @@ bool out_pid::getConfig()
}
aJsonObject * kPIDObj = aJson.getArrayItem(item->itemArg, 0);
if (kPIDObj->type != aJson_Array)
if (!kPIDObj || kPIDObj->type != aJson_Array)
{
errorSerial<<F("Invalid PID param array.")<<endl;
return false;
@@ -88,19 +88,19 @@ bool out_pid::getConfig()
default:
store->setpoint = 20.;
}
store->input=0.0;
store->output=0.0;
store->alarmTimer=millis();
store->alarmArmed=true;
store->alarmTimeout=alarmTO; //in sec
alarm(true);
if (!store->pid)
{store->pid= new PID (&store->input, &store->output, &store->setpoint, kP, kI, kD, direction);
if (!store->pid) return false;
store->pid->SetMode(AUTOMATIC);
//store->pid->SetOutputLimits(outMin,outMax);
store->pid->SetSampleTime(dT*1000.0);
store->alarmTimer=millis();
store->alarmArmed=false;
store->alarmTimeout=alarmTO; //in sec
return true;}
else errorSerial<<F("PID already initialized")<<endl;
@@ -168,10 +168,13 @@ if (store && store->pid && (Status() == CST_INITIALIZED) && item && (item->getCm
//short cmd = st.getCmd();
if (item->getCmd() != CMD_OFF)
{
if(store->pid->Compute() && !store->alarmArmed)
if(store->pid->Compute() )
{
debugSerial<<F("PID ")<<item->itemArr->name<<F("- set:")<<store->setpoint<<F(" in:")<<store->input<<(" out:") << store->output<<endl;
if (abs(store->output-store->prevOut)>OUTPUT_TRESHOLD)
debugSerial<<F("PID ")<<item->itemArr->name<<F(" set:")<<store->setpoint<<F(" in:")<<store->input<<(" out:") << store->output <<F(" P:")<<store->pid->GetKp() <<F(" I:")<<store->pid->GetKi() <<F(" D:")<<store->pid->GetKd();
if (store->alarmArmed) debugSerial << F(" Alarm");
debugSerial<<endl;
if ((abs(store->output-store->prevOut)>OUTPUT_TRESHOLD) && !store->alarmArmed)
{
aJsonObject * oCmd = aJson.getArrayItem(item->itemArg, 1);
itemCmd value((float) (store->output));// * (100./255.)));
@@ -195,12 +198,12 @@ return 1;//store->pollingInterval;
void out_pid::alarm(bool state)
{
if (!item || item->itemArg) return;
if (!item || !item->itemArg) return;
if (state)
{
aJsonObject * kPIDObj = aJson.getArrayItem(item->itemArg, 0);
if (kPIDObj->type != aJson_Array)
if (!kPIDObj || kPIDObj->type != aJson_Array)
{
errorSerial<<F("Invalid PID param array.")<<endl;
return;
@@ -281,8 +284,8 @@ debugSerial<<F("Input value:")<<store->input<<endl;
store->alarmTimer=millis();
if (store->alarmArmed)
{
alarm(false);
store->alarmArmed=false;
store->alarmArmed=false;
alarm(false);
}
return 1;
//break;