Set of helper functions to initiate and update a PID control loop


PID_new( pid[], Float:in, Float:out )
PID_dir( pid[], direction )
PID_set( pid[], Float:set )
PID_tune( pid[], Float:Kp, Float:Ki, Float:Kd )
PID_tune( pid[], Float:min, Float:max )
PID_update( pid[], Float:in )


in Feedback value
out Initial output value
direction 1 (normal) or -1 (reverse)
set setpoint / target
Kp Proportional component
Ki Integral response component
Kd Derivative response component
min Smallest output value allowed
max Largest output value allowed

Return value

The PID_update function returns the calculated output value.

Example usage

   new p[PID];  // create a PID 
      // Initialize the PID with mid range input and no output
      PID_new(p, 50.0, 0.0);
      // Limit output to +/- 10
      PID_limits(p, -10.0, 10.0); 
      // Set the tuning parameters 
      PID_tune(p, 0.2, 0.04, 0.01);
      // Set update speed to 100ms
      SetTickInterval( 100 );
      new Float:psi;      
      new Float:v;
      // Read and scale a sensor input (0-100psi from 4-20mA sensor)
      psi = 100.0 * ((GetInputValue(1, INVAL_RAW)-4000)/16000);
      // Update the PID with the feedback value
      v = PID_update(p, psi);
      // Apply to output
      SetOutput(4, fround(v+50));

NOTE: The values used in the above example are not from a real world setup. Please make sure you understand how PID works and how to correctly tune the variables if you use any of the PID functions.

  • ezeio2/scriptref/pid_new.txt
  • Last modified: 2020-08-14 23:43
  • by andreh