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PID Control

Command	Description
`IpidSet(id, kp, ki, kd, sampleMs, outMin, outMax)`	Sets coefficients, calculation interval and output range.
`IpidRun(id, pv, sv)`	Calculates output from the current value `PV` and setpoint `SV`.
`IpidReset(id)`	Resets the integral value and internal state.
`IpidReverse(id, reverse)`	Selects direct or reverse action.
`IpidItermLimit(id, min, max)`	Limits the integral term range.
`IpidOutput(id)`	Returns the last output value.

void setup() { IpidSet(0, 2.0, 0.5, 0.1, 100, 0, 100); }
void loop() {
  float output = IpidRun(0, ntcReadf(0), 50.0);
  IanalogWritef(0, 0.0, 100.0, output);
}

Command Prototypes

Return Type	Command Prototype
`bool`	`IpidSet(uint8_t id, float kp, float ki, float kd, unsigned long sampleMs, float outMin, float outMax)`
`float`	`IpidRun(uint8_t id, float pv, float sv)`
`void`	`IpidReset(uint8_t id)`
`void`	`IpidReverse(uint8_t id, bool reverse)`
`void`	`IpidItermLimit(uint8_t id, float iMin, float iMax)`
`float`	`IpidOutput(uint8_t id)`

PID calculation is not a safety device. Handle sensor open circuits, overtemperature, stuck outputs and emergency stops with separate circuits and logic.

← Built-in Command List