From 96555896cb6a4e01acab0aaf0ef92aa59cb1e32e Mon Sep 17 00:00:00 2001
From: Dlloydev <dlloydev@testcor.ca>
Date: Fri, 5 May 2023 18:04:49 -0400
Subject: [PATCH] Update

Add Reset() function to clears `pTerm`, `iTerm`, `dTerm` and `outputSum` values.
---
 README.md          |  8 ++++++++
 library.json       |  2 +-
 library.properties |  2 +-
 src/QuickPID.cpp   | 14 +++++++++++++-
 src/QuickPID.h     |  5 +++--
 5 files changed, 26 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index 9036a9a..ba8c4ec 100644
--- a/README.md
+++ b/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.
diff --git a/library.json b/library.json
index 2625072..3a8ff31 100644
--- a/library.json
+++ b/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":
diff --git a/library.properties b/library.properties
index 3ca8921..cb41dbc 100644
--- a/library.properties
+++ b/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.
diff --git a/src/QuickPID.cpp b/src/QuickPID.cpp
index e77c6ad..fd1792d 100644
--- a/src/QuickPID.cpp
+++ b/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);
 }
diff --git a/src/QuickPID.h b/src/QuickPID.h
index 38d1419..5f327ac 100644
--- a/src/QuickPID.h
+++ b/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)