IpidRun() calculates the PID output from the current value and setpoint.

float IpidRun(uint8_t id, float pv, float sv)

void setup() {
  IpidSet(1, 5.0, 0.5, 1.0, 100, 0, 65535);
}
 
void loop() {
  float pv = ntcRead(4) / 10.0;
  float sv = 50.0;
  uint16_t output = (uint16_t)IpidRun(1, pv, sv);
 
  PWM(12, output, true);
}

• 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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