After being in Beta for way too long, the Arduino PID Library is ready (I think) for prime time. The new and improved PID_v1 can be downloaded here.
I made some major changes to the internal code, but what I hope the end-user notices most is that I tried to simplify things. The two biggest examples of this:
- I switched to the Kp, Ki, Kd form of the PID. I still like the other version better, but this is what everyone is expecting, and it isn’t really about what I want.
- There are significantly fewer functions. All that’s left is what’s absolutely necessary to make the pid work well.
The biggest improvement this time around, and by far the most difficult, is that I’ve explained myself. In excruciating detail. If you want to know how and why I did things in the code, it’s all there.
As always, questions and comments are greatly appreciated.