Based on the Arduino PID Library - Version 1.0.1 - by Brett Beauregard [email protected] http://brettbeauregard.com

Modified into a template class and further tweaked by Ryan Pavlik [email protected] http://academic.cleardefinition.com

Copy this whole directory (named arduino_template_pid into the Arduino/Libraries folder or the Libraries folder in your sketchbook directory.

After re-starting your Arduino IDE you should see this library listed.

This is a template class, which means you might supply one or more parameters when using it between angle brackets < >. Two parameters are possible: the first specifies the type of the input, output, and setpoint variables you'll use (something like int or double usually), and the second specifies the type of the tuning parameters you'll use (pretty much necessarily floating point, so something like float or double, which are equivalent on Arduino).

There are two default simple names (typedefs) for particular variations that you can use instead of specifying those parameters explicitly:

• PIDd ("double") has input, output, and setpoint variables as double, and the tuning variables as double as well.

• PIDi ("integer") has input, output, and setpoint variables as int (integers).

That covers the technical coding details, but not the technical controls details. For an ultra-detailed explanation of why the code is the way it is, please visit br3ttb's article series at http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/

GPL3

Copyright Brett Beauregard 2008-2011.

Copyright Iowa State University 2012.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 3.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.