Update

- autoTune parameters `outputStep`, `hysteresis`, `Setpoint` and `Output` are now float
- minimum `outputStep` is now 0 (previously 5).

README.md

@@ -1,4 +1,4 @@
-# QuickPID   ![arduino-library-badge](https://camo.githubusercontent.com/989057908f34abd0c8bc2a8d762f86ccebbe377ed9ffef8c3dfdf27a09c6dac9/68747470733a2f2f7777772e617264752d62616467652e636f6d2f62616467652f517569636b5049442e7376673f)
+# QuickPID   [![arduino-library-badge](https://www.ardu-badge.com/badge/QuickPID.svg?)](https://www.ardu-badge.com/QuickPID)
 
 QuickPID is an updated implementation of the Arduino PID library with a built-in [AutoTune](https://github.com/Dlloydev/QuickPID/wiki/AutoTune) class as a dynamic object  to reduce memory if not used, thanks to contributions by [gnalbandian (Gonzalo)](https://github.com/gnalbandian). This controller can automatically determine and set parameters `Kp, Ki, Kd`. Additionally the Ultimate Gain `Ku`, Ultimate Period `Tu`, Dead Time `td` and determine how easy the process is to control. There are 10 tuning rules available to choose from. Also available are POn and DOn settings where POn controls the mix of Proportional on Error to Proportional on Measurement and DOn controls the mix of Derivative on Error to Derivative on Measurement.
 

library.json

@@ -1,6 +1,6 @@
 {
   "name": "QuickPID",
-  "version": "2.4.4",
+  "version": "2.4.5",
   "description": "A fast PID controller with AutoTune dynamic object, 10 tuning rules, Integral anti-windup, TIMER Mode and mixing of Proportional and Derivative on Error to Measurement. Also includes analogWrite compatibility for ESP32 and ESP32-S2.",
   "keywords": "PID, controller, signal",
   "repository":
@@ -20,7 +20,7 @@
   "license": "MIT",
   "homepage": "https://github.com/Dlloydev/QuickPID",
   "dependencies": {
-    "QuickPID": "~2.4.4"
+    "QuickPID": "~2.4.5"
   },
   "frameworks": "*",
   "platforms": "*"

library.properties

@@ -1,5 +1,5 @@
 name=QuickPID
-version=2.4.4
+version=2.4.5
 author=David Lloyd
 maintainer=David Lloyd <dlloydev@testcor.ca>
 sentence=A fast PID controller with AutoTune dynamic object, 10 tuning rules, Integral anti-windup, TIMER Mode and mixing of Proportional and Derivative on Error to Measurement.

src/QuickPID.cpp

@@ -1,5 +1,5 @@
 /**********************************************************************************
-   QuickPID Library for Arduino - Version 2.4.4
+   QuickPID Library for Arduino - Version 2.4.5
    by dlloydev https://github.com/Dlloydev/QuickPID
    Based on the Arduino PID Library and work on AutoTunePID class
    by gnalbandian (Gonzalo). Licensed under the MIT License.
@@ -95,8 +95,8 @@ void QuickPID::SetTunings(float Kp, float Ki, float Kd, float POn = 1.0, float D
   kd = Kd / SampleTimeSec;
   kpe = kp * pOn;
   kpm = kp * (1 - pOn);
-  kde = kp * dOn;
-  kdm = kp * (1 - dOn);
+  kde = kd * dOn;
+  kdm = kd * (1 - dOn);
 }
 
 /* SetTunings(...)************************************************************
@@ -234,8 +234,8 @@ void AutoTunePID::reset() {
   _autoTuneStage = 0;
 }
 
-void AutoTunePID::autoTuneConfig(const byte outputStep, const byte hysteresis, const int atSetpoint,
-                                 const int atOutput, const bool dir, const bool printOrPlotter, uint32_t sampleTimeUs)
+void AutoTunePID::autoTuneConfig(const float outputStep, const float hysteresis, const float atSetpoint,
+                                 const float atOutput, const bool dir, const bool printOrPlotter, uint32_t sampleTimeUs)
 {
   _outputStep = outputStep;
   _hysteresis = hysteresis;
@@ -262,7 +262,7 @@ byte AutoTunePID::autoTuneLoop() {
       _t0 = millis();
       _peakHigh = _atSetpoint;
       _peakLow = _atSetpoint;
-      (!_direction) ? *_output = 0 : *_output = _atOutput + _outputStep + 5;
+      (!_direction) ? *_output = 0 : *_output = _atOutput + (_outputStep * 2);
       _autoTuneStage = COARSE;
       return AUTOTUNE;
       break;
@@ -272,7 +272,7 @@ byte AutoTunePID::autoTuneLoop() {
         break;
       }
       if (*_input < (_atSetpoint - _hysteresis)) {
-        (!_direction) ? *_output = _atOutput + _outputStep + 5 : *_output = _atOutput - _outputStep - 5;
+        (!_direction) ? *_output = _atOutput + (_outputStep * 2) : *_output = _atOutput - (_outputStep * 2);
         _autoTuneStage = FINE;
       }
       return AUTOTUNE;

src/QuickPID.h

@@ -23,7 +23,7 @@ class AutoTunePID {
     ~AutoTunePID() {};
 
     void reset();
-    void autoTuneConfig(const byte outputStep, const byte hysteresis, const int setpoint, const int output,
+    void autoTuneConfig(const float outputStep, const float hysteresis, const float setpoint, const float output,
                         const bool dir = false, const bool printOrPlotter = false, uint32_t sampleTimeUs = 10000);
     byte autoTuneLoop();
     void setAutoTuneConstants(float* kp, float* ki, float* kd);
@@ -37,13 +37,10 @@ class AutoTunePID {
 
     byte _autoTuneStage = 1;
     tuningMethod _tuningRule;
-    byte _outputStep;
-    byte _hysteresis;
-    int _atSetpoint;  // 1/3 of 10-bit ADC range for symetrical waveform
-    int _atOutput;
     bool _direction = false;
     bool _printOrPlotter = false;
     uint32_t _tLoop, _tLast, _t0, _t1, _t2, _t3;
+    float _outputStep, _hysteresis, _atSetpoint, _atOutput;
     float _Ku, _Tu, _td, _kp, _ki, _kd, _rdAvg, _peakHigh, _peakLow;
 
     const uint16_t RulesContants[10][3] =