====== IpidItermLimit() ======

''IpidItermLimit()'' limits the minimum and maximum of the PID integral term.

{{:en-us_commands:reference:ipiditermlimit.svg?900|IpidItermLimit command operation flow}}

''void IpidItermLimit(uint8_t id, float iMin, float iMax)''

===== Commands =====

^ Command ^ Arguments ^ Return Value ^ Operation ^
| ''IpidItermLimit(id, iMin, iMax)'' | ''uint8_t id'' — PID loop number. Supports ''0'' ~ ''255''\\ ''float iMin''\\ ''float iMax'' | ''void'' | Limits the minimum and maximum of the PID integral term. |


===== Example =====

This example reads the raw A0 analog value (0–1023) on MPINO-16A8R8T for the PID calculation. It shows the result only in Serial Monitor and does not drive an output. Check the A0 voltage/current setting for the connected sensor.

<code cpp>
const uint8_t PID_ID = 0;

void setup() {
  Serial.begin(115200);
  IpidSet(PID_ID, 2.0F, 0.4F, 0.1F, 100, 0.0F, 1023.0F);  // Set PID gains, sample interval, and output range.
  IpidItermLimit(PID_ID, -100.0F, 100.0F);  // Limit the integral term to -100 through 100.
}

void loop() {
  const float currentValue = analogRead(A0);  // Read the raw ADC value from A0.
  const float result = IpidRun(PID_ID, currentValue, 512.0F);  // Calculate PID output from the A0 raw value and setpoint 512.
  Serial.println(result);
  delay(100);
}
</code>

===== Precautions =====

  * PID output can directly affect field equipment. Begin testing with a low output range and small gains.
  * ''IpidRun()'' retains the previous output until the ''sampleMs'' interval has elapsed. It may be called repeatedly in ''loop()''.
  * The integral term is automatically constrained by the output limits to reduce windup. Use ''IpidItermLimit()'' if additional limits are needed.
  * The derivative term is calculated from the PV change to reduce abrupt jumps caused by setpoint changes.
  * ''IpidReset()'' resets the integral term, previous PV and previous output value.
  * Use the same ''id'' for only one control loop.

===== Built-in Commands in the Same Category =====

  * [[:en-us_commands:reference:ipidset|IpidSet() View detailed description]]
  * [[:en-us_commands:reference:ipidrun|IpidRun() View detailed description]]
  * [[:en-us_commands:reference:ipidreset|IpidReset() View detailed description]]
  * [[:en-us_commands:reference:ipidreverse|IpidReverse() View detailed description]]
  * [[:en-us_commands:reference:ipidoutput|IpidOutput() View detailed description]]

[[:en-us_commands:builtin|← Built-in Command List]]