Autotune should be a method for class PID

[t0mpr1c3]

It seems desirable to me to have the entire PID object passed to the auto tune function rather than the individual variables. Probably not possible since I don't see a way to do this that would not break existing programs.

[br3ttb]

I can definitely see benefit to something like a hard-link between the PID and Autotune. at the same time, there's a little dance that happens between pid and autotune when the "autotune" button is pressed, and I don't think that dance will be the same in every application. having a them separate allows for some flexibility on that front.

maybe the solution is a LinkedAutotune class that inherits from the autotuner. it could get passed all the same constructors, along with a pointer to a pid object.

[t0mpr1c3]

I'll probably code something up in a fork. It may not be for everybody, like you say.

[Wei1234c]

Here is the class I'm using, which combine PID and PID_ATune. Set autoTune = true, and it will adapt the tuned parameters automatically when the tuning process is completed.

` #ifndef PID_enhanced_H #define PID_enhanced_H

#include <PID_v1.h> #include <PID_AutoTune_v0.h>

class PID_enhanced: public PID, public PID_ATune {

private:

byte currentMode = 2;

public:

double Input, Output, Setpoint = 0;   
bool autoTune = false;   

PID_enhanced(double Kp = 2, double Ki = 5, double Kd = 1, 
             int ControllerDirection = DIRECT, 
             int SampleTime = 100, 
             double OutputLimit_min = 0, double OutputLimit_max = 255,
             int controlType = 0) 
             : PID(&this->Input, &this->Output, &this->Setpoint, Kp, Ki, Kd, ControllerDirection),
               PID_ATune(&this->Input, &this->Output){ 

  SetOutputLimits(OutputLimit_min, OutputLimit_max);
  SetSampleTime(SampleTime);
  SetControlType(controlType);
}


void setup() {
  SetMode(AUTOMATIC);
  backupMode();
  Cancel();
}


int tune() {
  int result = 0; 

  if (autoTune) {
    result = PID_ATune::Runtime();
    if (result !=0) { 
      adaptTunedParameters();
      Cancel();
      autoTune = false;
    }
  }

  return result;
}

int tuneAndCompute() {
  if (autoTune) {
    return tune();
  } else {
    Compute();
    return 0;
  }
}


void backupMode() { 
    currentMode = GetMode();
}    

void restoreMode() {  
    SetMode(currentMode);
}    


double GetOperatingKp()
{
  return PID::GetKp();
}

double GetOperatingKi()
{
  return PID::GetKi();
}

double GetOperatingKd()
{
  return PID::GetKd();
}


double GetTunedKp()
{
  return PID_ATune::GetKp();
}

double GetTunedKi()
{
  return PID_ATune::GetKi();
}

double GetTunedKd()
{
  return PID_ATune::GetKd();
}

void adaptTunedParameters() {
  SetTunings(GetTunedKp(), GetTunedKi(), GetTunedKd());

  Serial.println("Parameters set to: ");
  Serial.print("Kp: ");Serial.print(GetOperatingKp());Serial.print("; ");
  Serial.print("Ki: ");Serial.print(GetOperatingKi());Serial.print("; ");
  Serial.print("Kd: ");Serial.print(GetOperatingKd());Serial.print("; ");
  Serial.println();        
}

};

#endif

`

[edgsc]

I tried using your code, Wei1234c, but it returns me this error:

Archiving built core (caching) in: C:\Users\EDUARD~1\AppData\Local\Temp\arduino_cache_379640\core\core_arduino_avr_uno_0c812875ac70eb4a9b385d8fb077f54c.a
C:\Users\EDUARD~1\AppData\Local\Temp\ccGD3Nq5.ltrans0.ltrans.o: In function `main':

C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino/main.cpp:43: undefined reference to `setup'

C:\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino/main.cpp:46: undefined reference to `loop'

collect2.exe: error: ld returned 1 exit status

exit status 1

Has anyone got it to work?

Thanks!