IpidReverse() selects direct or reverse PID action.

void IpidReverse(uint8_t id, bool reverse)

void setup() {
  IpidSet(2, 4.0, 0.2, 0.0, 100, 0, 255);
  IpidReverse(2, true);
}
 
void loop() {
  float pv = ntcRead(4) / 10.0;
  float sv = 25.0;
  int output = (int)IpidRun(2, pv, sv);
 
  analogWrite(11, output);
}

• 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.

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