Update

Add Reset() function to clears `pTerm`, `iTerm`, `dTerm` and `outputSum` values.

README.md

@@ -65,6 +65,14 @@ void QuickPID::Initialize();
 
 Does all the things that need to happen to ensure a bump-less transfer from manual to automatic mode.
 
+#### Reset
+
+```c++
+void QuickPID::Reset();
+```
+
+Clears `pTerm`, `iTerm`, `dTerm` and `outputSum` values.
+
 #### PID Query Functions
 
 These functions query the internal state of the PID.

library.json

@@ -1,6 +1,6 @@
 {
   "name": "QuickPID",
-  "version": "3.1.7",
+  "version": "3.1.8",
   "description": "A fast PID controller with multiple options. Various Integral anti-windup, Proportional, Derivative and timer control modes.",
   "keywords": "PID, controller, signal, autotune, tuner, stune",
   "repository":

library.properties

@@ -1,5 +1,5 @@
 name=QuickPID
-version=3.1.7
+version=3.1.8
 author=David Lloyd
 maintainer=David Lloyd <dlloydev@testcor.ca>
 sentence=A fast PID controller with multiple options. Various Integral anti-windup, Proportional and Derivative control modes.

src/QuickPID.cpp

@@ -1,5 +1,5 @@
 /**********************************************************************************
-   QuickPID Library for Arduino - Version 3.1.7
+   QuickPID Library for Arduino - Version 3.1.8
    by dlloydev https://github.com/Dlloydev/QuickPID
    Based on the Arduino PID_v1 Library. Licensed under the MIT License.
  **********************************************************************************/
@@ -253,6 +253,15 @@ void QuickPID::SetAntiWindupMode(uint8_t IawMode) {
   iawmode = (iAwMode)IawMode;
 }
 
+void QuickPID::Reset() {
+  lastTime = micros() - sampleTimeUs;
+  lastInput = 0;
+  outputSum = 0;
+  pTerm = 0;
+  iTerm = 0;
+  dTerm = 0;
+}
+
 /* Status Functions************************************************************
   These functions query the internal state of the PID.
 ******************************************************************************/
@@ -274,6 +283,9 @@ float QuickPID::GetIterm() {
 float QuickPID::GetDterm() {
   return dTerm;
 }
+float QuickPID::GetOutputSum() {
+  return outputSum;
+}
 uint8_t QuickPID::GetMode() {
   return static_cast<uint8_t>(mode);
 }

src/QuickPID.h

@@ -73,8 +73,8 @@ class QuickPID {
     void SetAntiWindupMode(iAwMode iAwMode);
     void SetAntiWindupMode(uint8_t IawMode);
 
-    // Ensure a bumpless transfer from manual to automatic mode
-    void Initialize();
+    void Initialize();        // Ensure a bumpless transfer from manual to automatic mode
+    void Reset();             // Clears pTerm, iTerm, dTerm and outputSum values
 
     // PID Query functions ****************************************************************************************
     float GetKp();            // proportional gain
@@ -83,6 +83,7 @@ class QuickPID {
     float GetPterm();         // proportional component of output
     float GetIterm();         // integral component of output
     float GetDterm();         // derivative component of output
+    float GetOutputSum();     // summation of all pid term components
     uint8_t GetMode();        // manual (0), automatic (1), timer (2) or toggle manual/automatic (3)
     uint8_t GetDirection();   // direct (0), reverse (1)
     uint8_t GetPmode();       // pOnError (0), pOnMeas (1), pOnErrorMeas (2)