esp32 adaptive tuning

[tomislav12]

double Setpoint, Input, Output; PID myPID(&Input, &Output, &Setpoint, 0, 0, 0, DIRECT);

setup() { Input = 10; Setpoint = 10; double Kp = 10; // CHANGED double Ki = 0; double Kd = 0; myPID.SetOutputLimits(-200, 200); myPID.SetSampleTime(16); myPID.SetMode(AUTOMATIC); myPID.SetTunings(Kp, Ki, Kd); } loop() { // below is simplified, in real code it is in some function call): Input = 5; // (simplified change) myPID.Compute(); SerialBT.println(Output); // only takes initial params into consideration (0,0,0) ! Why is that? }

Second question, I need to have params 20,0,-10, can Kd be below zero?

[tomislav12]

Another question, I found this inside the library code:

"SetOutputLimits(...)
This function will be used far more often than SetInputLimits.  while
 the input to the controller will generally be in the 0-1023 range (which is
 the default already,) ...."

Is input really needed to be 0-1023 or can it be eg 0-12? Anyway, I cannot find the function SetInputLimits or the default(1023) mentioned in the code of this library...

[drf5n]

There are no bounds on the input limits. The input need only be in the same units/range to be compatible with Setpoint, so that these calculations make sense:

https://github.com/br3ttb/Arduino-PID-Library/blob/524a4268fc01e6ea397e7fc5b5d820741e9b662f/PID_v1.cpp#L65-L69

This reference to a non-existent SetInputLimits is spurious:

https://github.com/br3ttb/Arduino-PID-Library/blob/524a4268fc01e6ea397e7fc5b5d820741e9b662f/PID_v1.cpp#L146-L153