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--- en-us_commands:reference:ipiditermlimit [2026/09/07 21:52] – 만듦 - 바깥 편집 127.0.0.1
+++ en-us_commands:reference:ipiditermlimit [2026/09/14 20:30] (current) – external edit 127.0.0.1
@@ Line 14: / Line 14: @@
 ===== 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>
-bool IpidSet(uint8_t id, float kp, float ki, float kd, unsigned long sampleMs, float outMin, float outMax);
+const uint8_t PID_ID = 0;
-float IpidRun(uint8_t id, float pv, float sv);
-void IpidReset(uint8_t id);
+void setup() {
-void IpidReverse(uint8_t id, bool reverse);
+  Serial.begin(115200);
-void IpidItermLimit(uint8_t id, float iMin, float iMax);
+  IpidSet(PID_ID, 2.0F, 0.4F, 0.1F, 100, 0.0F, 1023.0F);  // Set PID gains, sample interval, and output range.
-float IpidOutput(uint8_t id);
+  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>
@@ Line 32: / Line 42: @@
   * ''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]]