PID code working as intended

MiniPID.cpp

@@ -145,14 +145,14 @@ void MiniPID::setMaxIOutput(double maximum){
  * set to (-maximum).
  * @param output 
  */
-void MiniPID::setMaxOutput(double output){ setMaxOutput(-output,output);}
+void MiniPID::setOutputLimits(double output){ setOutputLimits(-output,output);}
 
 /**
  * Specify a	maximum output.
  * @param minimum possible output value
  * @param maximum possible output value
  */
-void MiniPID::setMaxOutput(double minimum,double maximum){
+void MiniPID::setOutputLimits(double minimum,double maximum){
 	if(maximum<minimum)return;
 	maxOutput=maximum;
 	minOutput=minimum;

MiniPID.h

@@ -12,8 +12,8 @@ class MiniPID{
 	void setPID(double p, double i, double d);
 	void setPID(double p, double i, double d,double f);
 	void setMaxIOutput(double maximum);
-	void setMaxOutput(double output);
-	void setMaxOutput(double minimum,double maximum);
+	void setOutputLimits(double output);
+	void setOutputLimits(double minimum,double maximum);
 	void setDirection(bool reversed);
 	void setSetpoint(double setpoint);
 	void reset();

MiniPID.ino

@@ -1,22 +1,56 @@
-#include "miniPID.h"
-#include "Arduino.h"
+#include <MiniPID.h>
 
 #define SETPOINTPIN 0
-#define FEEDBACKPIN 1
+#define FEEDBACKPIN A1
+#define GROUNDPIN A0
 #define OUTPUTPIN 10
 
-pid=miniPID(1,.1,.01);
-unsigned long int t;
+MiniPID pid(.1, 0.01, 0.00);
 
-void setup(){
-	t=0;
-}
+void setup() {
+  Serial.begin(9600);
+  Serial.println("Configuring");
 
-void loop(){
-	double output=pid.getOutput(analogRead(FEEDBACKPIN),analogRead(SETPOINTPIN););
-	analogWrite(OUTPUTPIN,output);
+  // put your setup code here, to run once:
+  pid.setOutputLimits(0,255);
+  //pid.setOutputFilter(0.01);
+  pid.setOutputRampRate(20);
+
+
+  pinMode(OUTPUTPIN,OUTPUT);
+  digitalWrite(OUTPUTPIN,LOW);
+
+  pinMode(GROUNDPIN,OUTPUT);
+  digitalWrite(GROUNDPIN,LOW);
 
-	//Wait until the next 50ms interval
-	while(millis()-t<50) delay(1);
-	t=millis();
+  delay(1000);
+  Serial.println("All set! Starting loop");
+  //Serial.print("Initial Voltage: ");
+  //Serial.println(analogRead(FEEDBACKPIN);
 }
+
+double fakesensor=0;
+void loop() {
+
+  double target=768;
+  fakesensor-=5;
+  double out=pid.getOutput(fakesensor,target);
+  fakesensor+=out;
+  Serial.println((int)fakesensor);
+  delay(200);
+/*
+  double target=768;
+  double feedback=analogRead(FEEDBACKPIN);
+  
+  int out=pid.getOutput(feedback,target);
+  
+  //analogWrite(OUTPUTPIN,out);
+  
+ 
+  Serial.print("F: ");
+  Serial.println((int)feedback);
+  Serial.print("\t\tO: ");
+  Serial.println((int)out);
+  delay(50);
+  //*/
+}

README.md

@@ -85,12 +85,12 @@ For this class of systems, it's helpful to consider the F term the primary varia
 
 For tuning, F as the primary variable results in P, I, and D being used for minor corrections, with a much smaller system error. P and I will generally be sufficient, and can correct for non-linearities in the system such as such as drag, inertia, friction, and disturbances.
 
-#### `setMaxOutput(double minimum,double maximum)`
-#### `setMaxOutput(double output)`
+#### `setOutputLimits(double minimum,double maximum)`
+#### `setOutputLimits(double output)`
 Optional, but highly recommended to set. The set the output limits, and ensure the controller behaves when reaching the maximum output capabilities of your physical system. 
 
 #### `setMaxIOutput(double maximum)`
-Sets the maximum output generated by the I term inside the controller. This is independent of the `setMaxOutput` values. This can assist in reducing windup over large setpoint changes or stall conditions. 
+Sets the maximum output generated by the I term inside the controller. This is independent of the `setOutputLimits` values. This can assist in reducing windup over large setpoint changes or stall conditions. 
 
 #### `setDirection(boolean reversed)`
 Reverses the output. Use this if the controller attempts to go the wrong way during operation.