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71 lines
1.9 KiB
C++
71 lines
1.9 KiB
C++
#pragma once
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#include "esphome/core/hal.h"
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#include <deque>
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#include <cmath>
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namespace esphome {
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namespace pid {
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struct PIDController {
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float update(float setpoint, float process_value);
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void reset_accumulated_integral() { accumulated_integral_ = 0; }
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void set_starting_integral_term(float in) { accumulated_integral_ = in; }
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bool in_deadband();
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friend class PIDClimate;
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private:
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/// Proportional gain K_p.
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float kp_ = 0;
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/// Integral gain K_i.
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float ki_ = 0;
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/// Differential gain K_d.
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float kd_ = 0;
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// smooth the derivative value using a weighted average over X samples
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int derivative_samples_ = 8;
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/// smooth the output value using a weighted average over X values
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int output_samples_ = 1;
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float threshold_low_ = 0.0f;
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float threshold_high_ = 0.0f;
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float kp_multiplier_ = 0.0f;
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float ki_multiplier_ = 0.0f;
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float kd_multiplier_ = 0.0f;
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int deadband_output_samples_ = 1;
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float min_integral_ = NAN;
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float max_integral_ = NAN;
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// Store computed values in struct so that values can be monitored through sensors
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float error_;
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float dt_;
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float proportional_term_;
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float integral_term_;
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float derivative_term_;
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void calculate_proportional_term_();
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void calculate_integral_term_();
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void calculate_derivative_term_(float setpoint);
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float weighted_average_(std::deque<float> &list, float new_value, int samples);
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float calculate_relative_time_();
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/// Error from previous update used for derivative term
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float previous_error_ = 0;
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float previous_setpoint_ = NAN;
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/// Accumulated integral value
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float accumulated_integral_ = 0;
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uint32_t last_time_ = 0;
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// this is a list of derivative values for smoothing.
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std::deque<float> derivative_list_;
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// this is a list of output values for smoothing.
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std::deque<float> output_list_;
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}; // Struct PID Controller
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} // namespace pid
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} // namespace esphome
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