From 52bf6d1014f944a1477b6139207fcf90be5af910 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anian=20B=C3=BChler?=
<anian.buehler@reutlingen-university.de>
Date: Thu, 16 Dec 2021 12:01:07 +0100
Subject: [PATCH] added constrain to pid integral
---
.../com/ardublock/translator/block/operators/PidBlock.java | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/ardublock/translator/block/operators/PidBlock.java b/src/main/java/com/ardublock/translator/block/operators/PidBlock.java
index a306296..34089fa 100644
--- a/src/main/java/com/ardublock/translator/block/operators/PidBlock.java
+++ b/src/main/java/com/ardublock/translator/block/operators/PidBlock.java
@@ -59,8 +59,11 @@ public class PidBlock extends TranslatorBlock
+ " long error = setpoint - input; // get error\n"
+ " out = kp * error; //P output\n\n";
if(integrative) {
- functionCode +=" long cumError = cumError + error * elapsedTime; // compute integral\n"
- + " out = out + ki * cumError; //I output\n\n";
+ functionCode +=" long cumError = cumError + error * elapsedTime; // compute integral\n";
+ if(limited) {
+ functionCode += " cumError = constrain(cumError, limitLow, limitHigh); //limit integral against windup";
+ }
+ functionCode += " out = out + ki * cumError; //I output\n\n";
}
if(derivative) {
functionCode +=" long rateError = (error - lastError) / elapsedTime; // compute derivative\n"
--
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