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:

Arduino-PID-Library/PID_v1.cpp

Lines 65 to 69 in 524a426

	/*Compute all the working error variables*/
	double input = *myInput;
	double error = *mySetpoint - input;
	double dInput = (input - lastInput);
	outputSum+= (ki * error);

This reference to a non-existent SetInputLimits is spurious:

Arduino-PID-Library/PID_v1.cpp

Lines 146 to 153 in 524a426

	/* 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,) the output will be a little different. maybe they'll
	* be doing a time window and will need 0-8000 or something. or maybe they'll
	* want to clamp it from 0-125. who knows. at any rate, that can all be done
	* here.
	**************************************************************************/