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/********************************************************
* PID RelayOutput Example
* Same as basic example, except that this time, the output
* is going to a digital pin which (we presume) is controlling
* a relay. the pid is designed to Output an analog value,
* but the relay can only be On/Off.
*
* to connect them together we use "time proportioning
* control" it's essentially a really slow version of PWM.
* first we decide on a window size (5000mS say.) we then
* set the pid to adjust its output between 0 and that window
* size. lastly, we add some logic that translates the PID
* output into "Relay On Time" with the remainder of the
* window being "Relay Off Time"
PID繼電器輸出范例
與基本范例相同，這一次輸出是一個數(shù)字引腳控制的繼電器。PID被設計成
輸出一個模擬值，但是繼電器只有開關(guān)狀態(tài)。
為了聯(lián)系上兩者，我們使用時間比例控制，它本質(zhì)上是一個很慢的PWM。
首先我們決定一個窗口時間（比如5000ms）。
然后設置PID適應它的輸出在0到窗口時間的范圍。
最后我們添加一些邏輯，把PID輸出轉(zhuǎn)換成“繼電器接通時間”和剩余的
“繼電器斷開時間”
********************************************************/
#include <PID_v1.h>
#define RelayPin 8
// 定義我們將要使用的變量
//Define Variables we'll be connecting to
double Setpoint, Input, Output;
//指定鏈接和最初的調(diào)優(yōu)參數(shù)
//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
int WindowSize = 2000;
unsigned long windowStartTime;
void setup()
{
windowStartTime = millis();
//初始化變量
//initialize the variables we're linked to
Setpoint = 100;
//告訴PID在從0到窗口大小的范圍內(nèi)取值
//tell the PID to range between 0 and the full window size
myPID.SetOutputLimits(0, WindowSize);
//開啟PID
//turn the PID on
myPID.SetMode(AUTOMATIC);
}
void loop()
{
Input = analogRead(0);
myPID.Compute();
/************************************************
* turn the output pin on/off based on pid output 基于PID輸出，打開或關(guān)閉端口輸出
************************************************/
if(millis() - windowStartTime>WindowSize)
{ //time to shift the Relay Window 繼電器窗口時間
windowStartTime += WindowSize;
}
if(Output < millis() - windowStartTime) digitalWrite(RelayPin,HIGH);
else digitalWrite(RelayPin,LOW);
}

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