christianTF/Perl_PIDController

A PID controller (proportional–integral–derivative controller) for Perl

Perl_PIDController

A PID controller (proportional–integral–derivative controller) for Perl

Usage as P, I, PI, PD, PID controller

If you don't want any of the controller parts, set it's value to 0. E.g. setting D=>0 will give you a PI controller.

Usage

use PIDController.pm
my $PIDController = new PIDController( P => 50, I => 0.25, D => 1 );
$PIDController->{setPoint} = $destination_value;
$PIDController->setWindup(40); # Default is 20

while(1) {
  $input_value = rand(10); # Current value going into the PID controller
  $output_value = $PIDController->update($input_value);
  sleep(1);
}

## Change values during runtime

# New destination value
$PIDController->{setPoint} = $destination_value;

# New Kp, Ki, Kd
$PIDController->setKp($newKp);
$PIDController->setKi($newKi);
$PIDController->setKd($newKd);

# Change windup
$PIDController->setWindup(30); # Default is 20

# Change sample time (in sec)
# Default is 0, only do a new PID calculation after at least x seconds.
$PIDController->setSampleTime(10); # Default is 0