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

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

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 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 Command List