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IpidSet()

IpidSet() sets PID coefficients, calculation interval and output range.

bool IpidSet(uint8_t id, float kp, float ki, float kd, unsigned long sampleMs, float outMin, float outMax)

Commands

Command	Arguments	Return Value	Operation
`IpidSet(id, kp, ki, kd, sampleMs, outMin, outMax)`	`uint8_t id` — PID loop number. Supports `0` ~ `255` `float kp` — Proportional gain. Negative inputs are treated as `0` `float ki` — Integral gain. Integration based on seconds `float kd` — Derivative gain. Differentiation based on seconds `unsigned long sampleMs` — PID calculation interval in ms. `0` is not allowed `float outMin` `float outMax`	`bool`	Sets PID coefficients, calculation interval and output range.

Example

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);
}

Precautions

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

ILOGICS Product Documentation

Table of Contents

IpidSet()

Commands

Example

Precautions