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Published 20 hours ago • verified publisher icon br3ttb

PID_v1 Timers & Interrupts

Open CarlP66 opened this issue 6 years ago • 3 comments

CarlP66 avatar Mar 13 '19 05:03 CarlP66

Hi. Does PID_v1 use timers or interrupts? I'm guessing that it does. The reason for the question is that I seem to have a clash with the NewPing.h library which I believe uses timer 2 (and maybe 4). If I put NewPing calls inside a PID loop, then the PID controller seems to behave erratically. Unfortunately, I can't post the code, as I didn't keep a copy.

CarlP66 avatar Mar 13 '19 05:03 CarlP66

I doesn't. it just looks at millis. every time the compute function is called it checks the time and decides if it should evaluate.

Because of this, it's recommended that compute be called every cycle of loop(), and that there are no delays in the loop function.

Erratic behavior can occur if this recommendation isn't followed.

br3ttb avatar Mar 13 '19 10:03 br3ttb

Thanks for a quick response. It is an interesting answer. I will have to dig deeper. Cheers.

CarlP66 avatar Mar 13 '19 16:03 CarlP66