pid-controller for moddable

main.js

/*
 * Copyright (c) 2019  Wilberforce
 * pid-controller - Advanced PID controller based on the Arduino PID library
 * Based on:  Arduino PID Library - Version 1.0.1 by Brett Beauregard <[email protected]> brettbeauregard.com
 * 
 * Copyright (c) 2016-2017  Moddable Tech, Inc.
 */

class PID {

    constructor(dictionary) {
        this._input = dictionary.input ? dictionary.input : 0;
        this._setpoint = dictionary.setpoint ? dictionary.setpoint : 50;
        this.outputLimits(dictionary.min_output, dictionary.max_output); // default output limits
        this._sampleTime = dictionary.sampleTime ? dictionary.sampleTime : 100; // default Controller Sample Time is 0.1 seconds
        this.tunings(dictionary.Kp, dictionary.Ki, dictionary.Kd);
        this.lastTime = (new Date()).getTime() - this._sampleTime;
        this.iTerm = 0;
        this._output = 0;
        this.mode = dictionary.mode ? dictionary.mode : 0; // Default to PID.MANUAL
    }

    /**
     * compute()
     * This, as they say, is where the magic happens. This function should be called
     * when inputs change. The function will decide for itself whether a new
     * pid Output needs to be computed.  returns true when the output is computed,
     * false when nothing has been done.
     */
    compute(value) {
        if (this._mode === PID.MANUAL) {
            return false;
        }
        let now = (new Date()).getTime();
        let timeChange = (now - this.lastTime);
        if (timeChange >= this._sampleTime) {

            // Compute all the working error variables
            let input = this._input;
            let error = this._setpoint - input;
            this.iTerm += (this.ki * error);
            let dInput = input - this.lastInput;
            // Compute PID Output
            let output = (this.kp * error + this.iTerm - this.kd * dInput) * this._mode;

            // Clamp to range
            if (output > this.outMax) {
                output = this.outMax;
            } else if (output < this.outMin) {
                output = this.outMin;
            }
            this._output = output;

            this.lastInput = input;
            this.lastTime = now;
            return true;
        } else {
            return false;
        }
    }

    /**
     * tunings(...)
     * This function allows the controller's dynamic performance to be adjusted. 
     * it's called automatically from the constructor, but tunings can also
     * be adjusted on the fly during normal operation
     */
    tunings(Kp, Ki, Kd) {
        if (Kp < 0 || Ki < 0 || Kd < 0) {
            new Error("Terms must be postive");
        }

        this.dispKp = Kp;
        this.dispKi = Ki;
        this.dispKd = Kd;

        this._sampleTimeInSec = (this._sampleTime) / 1000;
        this.kp = Kp;
        this.ki = Ki * this._sampleTimeInSec;
        this.kd = Kd / this._sampleTimeInSec;
    }

    /**
     * sampleTime(...)
     * sets the period, in Milliseconds, at which the calculation is performed	
     */
    set sampleTime(value) {
        if (value > 0) {
            let ratio = value / (1.0 * this._sampleTime);
            this.ki *= ratio;
            this.kd /= ratio;
            this._sampleTime = Math.round(value);
        }
    }

    /**
     * output( )
     * Set output level if in manual mode
     */
    set output(value) {
        if (this._mode === PID.MANUAL) {
            new Error("Can't set output value in manual mode");
        }
        if (value > this.outMax) {
            this._output = value;
        } else if (value < this.outMin) {
            value = this.outMin;
        }
        this._output = value;
    }

    /**
     * outputLimits(...)
     * Set the min and max range of the output
     */
    outputLimits(min, max) {
        if (min >= max) {
            return;
        }
        this.outMin = min;
        this.outMax = max;

        if (this._mode !== PID.MANUAL) {
            if (this._output > this.outMax) {
                this._output = this.outMax;
            } else if (this._output < this.outMin) {
                this._output = this.outMin;
            }

            if (this.iTerm > this.outMax) {
                this.iTerm = this.outMax;
            } else if (this.iTerm < this.outMin) {
                this.iTerm = this.outMin;
            }
        }
    }

    /**
     * SetMode(...)
     * PID.DIRECT - Direct acting process  ( +Output leads to +Input, e.g heating ) 
     * PID.REVERSE - Reverse acting process (+Output leads to -Input, e.g. Cooling ) 
     * PID.MANUAL - controller does not adjust output, application does (Override type situation)
     */

    set mode(m) {
        this._mode = m;
        // do all the things that need to happen to ensure a bumpless transfer from manual to automatic mode.
        this.iTerm = this._output;
        this.lastInput = this._input;
        if (this.iTerm > this.outMax) {
            this.iTerm = this.outMax;
        } else if (this.iTerm < this.outMin) {
            this.iTerm = this.outMin;
        }
    }

    get Kp() {
        return this.dispKp;
    }

    get Kd() {
        return this.dispKd;
    }

    get Ki() {
        return this.dispKi;
    }

    get mode() {
        return this._mode;
    }

    get output() {
        return this._output;
    }

    get input() {
        return this._input;
    }

    get setpoint() {
        return this._setpoint;
    }

    set input(current_value) {
        this._input = current_value;
    }

    set setpoint(current_value) {
        this._setpoint = current_value;
    }    
}

PID.MANUAL = 0;
PID.DIRECT = 1;
PID.REVERSE = -1;

export {
    PID as
    default, PID
};

manifest.json

{
	"include": [
		"$(MODDABLE)/examples/manifest_base.json",		
	],
	"modules": {
		"*": "./main",
		"PID": "./pid"
	},
}

pid.js

/*
 * Copyright (c) 2019  Wilberforce
 * pid-controller - Advanced PID controller based on the Arduino PID library
 * Based on:  Arduino PID Library - Version 1.0.1 by Brett Beauregard <[email protected]> brettbeauregard.com
 * 
 * Copyright (c) 2016-2017  Moddable Tech, Inc.
 */

class PID {

    constructor(dictionary) {
        this._input = dictionary.input ? dictionary.input : 0;
        this._setpoint = dictionary.setpoint ? dictionary.setpoint : 50;
        this.outputLimits(dictionary.min_output, dictionary.max_output); // default output limits
        this._sampleTime = dictionary.setpoint ? dictionary.setpoint : 100; // default Controller Sample Time is 0.1 seconds
        this.tunings(dictionary.Kp, dictionary.Ki, dictionary.Kd);
        this.lastTime = (new Date()).getTime() - this._sampleTime;
        this.iTerm = 0;
        this._output = 0;
        this.mode = dictionary.mode ? dictionary.mode : 0; // Default to PID.MANUAL
    }

    /**
     * compute()
     * This, as they say, is where the magic happens. This function should be called
     * when inputs change. The function will decide for itself whether a new
     * pid Output needs to be computed.  returns true when the output is computed,
     * false when nothing has been done.
     */
    compute() {
        if (this._mode === PID.MANUAL) {
            return false;
        }
        let now = (new Date()).getTime();
        let timeChange = (now - this.lastTime);
        if (timeChange >= this._sampleTime) {

            // Compute all the working error variables
            let input = this._input;
            let error = this._setpoint - input;
            this.iTerm += (this.ki * error);
            let dInput = input - this.lastInput;
            // Compute PID Output
            let output = (this.kp * error + this.iTerm - this.kd * dInput) * this._mode;

            // Clamp to range
            if (output > this.outMax) {
                output = this.outMax;
            } else if (output < this.outMin) {
                output = this.outMin;
            }
            this._output = output;

            this.lastInput = input;
            this.lastTime = now;
            return true;
        } else {
            return false;
        }
    }

    /**
     * tunings(...)
     * This function allows the controller's dynamic performance to be adjusted. 
     * it's called automatically from the constructor, but tunings can also
     * be adjusted on the fly during normal operation
     */
    tunings(Kp, Ki, Kd) {
        if (Kp < 0 || Ki < 0 || Kd < 0) {
            new Error("Terms must be postive");
        }

        this.dispKp = Kp;
        this.dispKi = Ki;
        this.dispKd = Kd;

        this._sampleTimeInSec = (this._sampleTime) / 1000;
        this.kp = Kp;
        this.ki = Ki * this._sampleTimeInSec;
        this.kd = Kd / this._sampleTimeInSec;
    }

    /**
     * sampleTime(...)
     * sets the period, in Milliseconds, at which the calculation is performed	
     */
    set sampleTime(value) {
        if (value > 0) {
            let ratio = value / (1.0 * this._sampleTime);
            this.ki *= ratio;
            this.kd /= ratio;
            this._sampleTime = Math.round(value);
        }
    }

    /**
     * output( )
     * Set output level if in manual mode
     */
    set output(value) {
        if (this._mode === PID.MANUAL) {
            new Error("Can't set output value in manual mode");
        }
        if (value > this.outMax) {
            this._output = value;
        } else if (value < this.outMin) {
            value = this.outMin;
        }
        this._output = value;
    }

    /**
     * outputLimits(...)
     * Set the min and max range of the output
     */
    outputLimits(min, max) {
        if (min >= max) {
            return;
        }
        this.outMin = min;
        this.outMax = max;

        if (this._mode !== PID.MANUAL) {
            if (this._output > this.outMax) {
                this._output = this.outMax;
            } else if (this._output < this.outMin) {
                this._output = this.outMin;
            }

            if (this.iTerm > this.outMax) {
                this.iTerm = this.outMax;
            } else if (this.iTerm < this.outMin) {
                this.iTerm = this.outMin;
            }
        }
    }

    /**
     * SetMode(...)
     * PID.DIRECT - Direct acting process  ( +Output leads to +Input, e.g heating ) 
     * PID.REVERSE - Reverse acting process (+Output leads to -Input, e.g. Cooling ) 
     * PID.MANUAL - controller does not adjust output, application does (Override type situation)
     */

    set mode(m) {
        this._mode = m;
        // do all the things that need to happen to ensure a bumpless transfer from manual to automatic mode.
        this.iTerm = this._output;
        this.lastInput = this._input;
        if (this.iTerm > this.outMax) {
            this.iTerm = this.outMax;
        } else if (this.iTerm < this.outMin) {
            this.iTerm = this.outMin;
        }
    }

    get Kp() {
        return this.dispKp;
    }

    get Kd() {
        return this.dispKd;
    }

    get Ki() {
        return this.dispKi;
    }

    get mode() {
        return this._mode;
    }

    get output() {
        return this._output;
    }

    get input() {
        return this._input;
    }

    get setpoint() {
        return this._setpoint;
    }

    set input(current_value) {
        this._input = current_value;
    }

    set setpoint(current_value) {
        this._setpoint = current_value;
    }    
}

PID.MANUAL = 0;
PID.DIRECT = 1;
PID.REVERSE = -1;

export {
    PID as
    default, PID
};