From 028bf42b1260366254fdb1a3b03a9b0e5b96412b Mon Sep 17 00:00:00 2001
From: Majid Derhambakhsh <Majid.Derhambakhsh@outlook.com>
Date: Tue, 22 Jun 2021 22:00:23 +0430
Subject: [PATCH] Update README.md

---
 README.md | 86 +++++++++++++++++++++++++++++++++++++++----------------
 1 file changed, 61 insertions(+), 25 deletions(-)

diff --git a/README.md b/README.md
index 0a66466..e9cc74f 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,8 @@ PID Controller library for ARM Cortex M (STM32)
 
 > #### Download Arduino Library : [Arduino-PID-Library](https://github.com/br3ttb/Arduino-PID-Library)  
 
-### Version : 1.0.0
+## Release
+- #### Version : 1.0.0
 
 - #### Type : Embedded Software.
 
@@ -21,13 +22,14 @@ PID Controller library for ARM Cortex M (STM32)
 - #### Required Library/Driver :
 
 
+## Overview 
 ### Initialization and de-initialization functions:
 ```c++
 void PID(PID_TypeDef *uPID, double *Input, double *Output, double *Setpoint, double Kp, double Ki, double Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
 void PID2(PID_TypeDef *uPID, double *Input, double *Output, double *Setpoint, double Kp, double Ki, double Kd, PIDCD_TypeDef ControllerDirection);
 ``` 
 
-### PID operation functions:
+### Operation functions:
 ```c++
 /* ::::::::::: Computing ::::::::::: */
 uint8_t PID_Compute(PID_TypeDef *uPID);
@@ -57,33 +59,67 @@ double PID_GetKd(PID_TypeDef *uPID);
 ``` 
 
 ### Macros:
+```diff  
+non   
+```
+
+## Guide
+
+#### This library can be used as follows:
+#### 1.  Add pid.h header  
+#### 2.  Create PID struct and initialize it, for example:      
+* Initializer:
+  ```c++
+  PID(PID_TypeDef *uPID, double *Input, double *Output, double *Setpoint, double Kp, double Ki, double Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
+  ``` 
+* Parameters:  
+     * uPID : Pointer to pid struct 
+     * Input : The variable we're trying to control (double) 
+     * Output : The variable that will be adjusted by the pid (double) 
+     * Setpoint : The value we want to Input to maintain (double) 
+     * Kp,Ki,Kd : Tuning Parameters. these affect how the pid will change the output (double>=0) 
+     * POn : Either P_ON_E (Default) or P_ON_M. Allows Proportional on Measurement to be specified.  
+     * ControllerDirection : Either DIRECT or REVERSE. determines which direction the output will move when faced with a given error. DIRECT is most common  
+          
+          
+* Example:
+  ```c++  
+  PID_TypeDef TPID;
+
+  double Temp, PIDOut, TempSetpoint;
 
-## How to use this library
-
-### The PID library can be used as follows:
-1.1  Add pid.h header  
-      
-2.1  Initialize:  
-        
-```c++
-PID_TypeDef TPID;
-
-double Temp, PIDOut, TempSetpoint;
-
-PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
-	
-PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
-PID_SetSampleTime(&TPID, 500);
-PID_SetOutputLimits(&TPID, 1, 100);
-```  
-      
-3.1  Using Compute function, for example:  
+  PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
+  ``` 
+#### 3.  Set 'mode', 'sample time' and 'output limit', for example:  
+* Functions:
+  ```c++
+  void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
+  void PID_SetOutputLimits(PID_TypeDef *uPID, double Min, double Max);
+  void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
+  ``` 
+* Parameters:  
+     * uPID : Pointer to pid struct 
+     * Mode : _PID_MODE_AUTOMATIC or _PID_MODE_MANUAL
+     * Min : Low end of the range. must be < max (double) 
+     * Max : High end of the range. must be > min (double) 
+     * NewSampleTime : How often, in milliseconds, the PID will be evaluated. (int>0)  
+          
+* Example:
+  ```c++  
+  PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
+  PID_SetSampleTime(&TPID, 500);
+  PID_SetOutputLimits(&TPID, 1, 100);
+  ``` 
+  
+#### 4.  Using Compute function, for example:  
         
 ```c++
 PID_Compute(&TPID);
 ```  
       
-##### Example 1:  
+## Examples  
+
+#### Example 1: PID Compute for temperature
 ```c++  
 #include "main.h"
 #include "pid.h"
@@ -121,8 +157,8 @@ int main(void)
 ``` 
 
 ## Tests performed:
-- [ ] Run on AVR
 - [x] Run on STM32 Fx cores 
 
-#### Developer: Majid Derhambakhsh
+## Developers: 
+- ### Majid Derhambakhsh