PID Custom

A compact PID controller library for Arduino.

Version 2.0.0

Version 2 separates the class declaration and implementation into PID.h and PID.cpp. The derivative term is calculated from the measured value rather than directly from the error, which reduces derivative kick when the setpoint changes abruptly.

Breaking changes from v1.x

• updatePID(double err) is replaced by updatePID(double r, double y).
• standbyPID() is replaced by resetPID().

Existing v1.x sketches must update their function calls before using v2.0.0.

Installation

In Arduino IDE, select Sketch > Include Library > Add .ZIP Library... and choose the ZIP file.

Basic usage

#include <PID.h>

PID controller(1.0, 0.1, 0.01);

double setpoint = 100.0;
double measurement = 0.0;

void setup() {
  controller.resetPID();
}

void loop() {
  const double output = controller.updatePID(setpoint, measurement);
}

See examples/BasicUsage/BasicUsage.ino for a complete minimal example.