close loop for PI

good day…

i laready make sample program for close loop just want using Kp and Ki only but some error after compile need help what the means of this error “” PID_v1.cpp:8: fatal error: WProgram.h: No such file or directory compilation terminated.""

i attached my program need help to conform which parts i make mistake.

#include <math.h>
#include <PID_v1.h>

float Vdc= A0; // reading from Vdc or setpoint
float Vs= A1; // reading from Vs
float is= A2;// reading from current Is
float Vtri= A3; // reading from Vtriangle wave
float PulsePin1 = 12; // set output pin 12
float PulsePin2= 9;

float digVdc; // digital Vdc
float digVs; // digital Vs
float digis; // digital Is
float digVtri; // digital triangle wave form
float analogVdc; // analog Vdc
float analogVs; // analog Vs or v input
float analogis; // analog Is (current)
float analogVtri; // analog triangle wave
float analogVsin; // analog Vsin
float analognegVsin; // analog -Vsin
float analogiref; // analog I reference

PID myPID(&analogis,&analogVsin,&analogiref, 1,2,0,DIRECT);
void setup() {
// declare the pulsePin as an OUTPUT:
pinMode(PulsePin1, OUTPUT);
pinMode(PulsePin2, OUTPUT);

digVdc = analogRead(Vdc);
digVs= analogRead(Vs);
digis= analogRead(is);
digVtri= analogRead(Vtri);
analogVdc= digVdc (5.0/1024.0);
analogVs= digVs
( 5.0/1024.0);
analogis= digis *(5.0/1024.0);
analogVtri= digVtri (5.0/1024.0);
// turn the PID on


void loop() {



if (analogVsin>=analogVtri) {
digitalWrite( PulsePin1, HIGH); //pin 12
if ( analogVsin< analogVtri){

if( analognegVsin>=analogVtri){
digitalWrite( PulsePin2, HIGH);

if ( analognegVsin<analogVtri){
digitalWrite(PulsePin2, LOW);


It looks like you have an old library. Edit PID_v1.cpp and change the WProgram.h reference to Arduino.h

thanks.. i already change but still comeout new error
PID_v1.cpp:9: fatal error: PID_v1.h: No such file or directory
compilation terminated.

Check that the file PID_v1.h is in the proper location. Review documentation on installing libraries.

sorry i dont understand how to review documentation on installing libraries..any step how to install this library?


thanks again..i already done to add this library

then still comeout new error

PID_v1.cpp:40: error: prototype for 'void PID::Compute()' does not match any in class 'PID'
PID_v1.h:23: error: candidate is: bool PID::Compute()

Post the files you have edited. You have f**ked something up.

i send this file

  • Arduino PID Library - Version 1.0.1
  • by Brett Beauregard
  • This Library is licensed under a GPLv3 License

#if ARDUINO >= 100
#include “Arduino.h”
#include “WProgram.h”

#include <PID_v1.h>

/Constructor (…)********************************************************

  • The parameters specified here are those for for which we can’t set up
  • reliable defaults, so we need to have the user set them.
    Input, double
    Output, double
    double Kp, double Ki, double Kd, int ControllerDirection)

myOutput = Output;
myInput = Input;
mySetpoint = Setpoint;
inAuto = false;

PID::SetOutputLimits(0, 255); //default output limit corresponds to
//the arduino pwm limits

SampleTime = 100; //default Controller Sample Time is 0.1 seconds

PID::SetTunings(Kp, Ki, Kd);

lastTime = millis()-SampleTime;

/* Compute() **********************************************************************

  • This, as they say, is where the magic happens. this function should be called
  • every time “void loop()” executes. 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.
    bool PID::Compute()
    if(!inAuto) return false;
    unsigned long now = millis();
    unsigned long timeChange = (now - lastTime);
    /Compute all the working error variables/
    double input = *myInput;
    double error = *mySetpoint - input;
    ITerm+= (ki * error);
    if(ITerm > outMax) ITerm= outMax;
    else if(ITerm < outMin) ITerm= outMin;
    double dInput = (input - lastInput);

/Compute PID Output/
double output = kp * error + ITerm- kd * dInput;

if(output > outMax) output = outMax;
else if(output < outMin) output = outMin;
*myOutput = output;

/Remember some variables for next time/
lastInput = input;
lastTime = now;
return true;
else return false;

/* SetTunings(…)*************************************************************

  • 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
    void PID::SetTunings(double Kp, double Ki, double Kd)
    if (Kp<0 || Ki<0 || Kd<0) return;

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

double SampleTimeInSec = ((double)SampleTime)/1000;
kp = Kp;
ki = Ki * SampleTimeInSec;
kd = Kd / SampleTimeInSec;

if(controllerDirection ==REVERSE)
kp = (0 - kp);
ki = (0 - ki);
kd = (0 - kd);

/* SetSampleTime(…) *********************************************************

  • sets the period, in Milliseconds, at which the calculation is performed
    void PID::SetSampleTime(int NewSampleTime)
    if (NewSampleTime > 0)
    double ratio = (double)NewSampleTime
    / (double)SampleTime;
    ki *= ratio;
    kd /= ratio;
    SampleTime = (unsigned long)NewSampleTime;

/* 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.
    void PID::SetOutputLimits(double Min, double Max)
    if(Min >= Max) return;
    outMin = Min;
    outMax = Max;

if(*myOutput > outMax) *myOutput = outMax;
else if(*myOutput < outMin) *myOutput = outMin;

if(ITerm > outMax) ITerm= outMax;
else if(ITerm < outMin) ITerm= outMin;

/* SetMode(…)****************************************************************

  • Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
  • when the transition from manual to auto occurs, the controller is
  • automatically initialized
    void PID::SetMode(int Mode)
    bool newAuto = (Mode == AUTOMATIC);
    if(newAuto == !inAuto)
    { /we just went from manual to auto/
    inAuto = newAuto;

/* Initialize()****************************************************************

  • does all the things that need to happen to ensure a bumpless transfer
  • from manual to automatic mode.
    void PID::Initialize()
    ITerm = *myOutput;
    lastInput = *myInput;
    if(ITerm > outMax) ITerm = outMax;
    else if(ITerm < outMin) ITerm = outMin;

/* SetControllerDirection(…)*************************************************

  • The PID will either be connected to a DIRECT acting process (+Output leads
  • to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
  • know which one, because otherwise we may increase the output when we should
  • be decreasing. This is called from the constructor.
    void PID::SetControllerDirection(int Direction)
    if(inAuto && Direction !=controllerDirection)
    kp = (0 - kp);
    ki = (0 - ki);
    kd = (0 - kd);
    controllerDirection = Direction;

/* Status Funcions*************************************************************

  • Just because you set the Kp=-1 doesn’t mean it actually happened. these
  • functions query the internal state of the PID. they’re here for display
  • purposes. this are the functions the PID Front-end uses for example
    double PID::GetKp(){ return dispKp; }
    double PID::GetKi(){ return dispKi;}
    double PID::GetKd(){ return dispKd;}
    int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
    int PID::GetDirection(){ return controllerDirection;}

Code in code tags please -edit the posting and add them...

sorry what do you mean code in code sir?