B4R Tutorial Arduino-PIDController-Library

An inline C wrap for this Github project. Should be able to use it for PID control. It works very well.

Study the code - change your pins to what you need. For the attached project:
A0 = plant feedback
A1 = Setpoint
D0 = control parameter

The attached zip includes PIDController.hpp - you can leave it in the B4R project folder as the inline C code is defined as:

#include "PIDController.hpp"

Note this sub - it is specific to your "plant and you need to amend it accordingly (I have used a LDR as plant feedback)":
Sub readFeedback As Float                    'specific to the LDR I am using as feedback from the "plant"
    Dim mean As Float = 0
    Dim V As Float
    For i = 0 To 99
        V = feedbackpin.AnalogRead
        mean = mean +  (V * A * 10) / (B * Rc * (1024 - V))
    mean  = mean / 100
    Return mean
End Sub

#Region Project Attributes
    #AutoFlushLogs: True
    #CheckArrayBounds: True
    #StackBufferSize: 300
#End Region
'Ctrl+Click to open the C code folder: ide://run?File=%WINDIR%\System32\explorer.exe&Args=%PROJECT%\Objects\Src
Sub Process_Globals
    Public Serial1 As Serial
    Dim t As Timer
    Dim kp, ki, kd As Double                 'Used to set the kp, ki, kd parameters in the inline C code

    Dim cont As CONTROLLINO
    Dim setpointpin, feedbackpin, outputpin, additionaloutputpin As Pin
    Dim setpointval, feedbackval As UInt
    Dim outputval As Int                     'inline C code will set this value
    Dim output_min, output_max As Double     'inline C code will use these value
    Dim A  As Long = 1000                    'Resistance in darkness in KΩ
    Dim B As Int = 15                        'Light resistance (10 Lux) in KΩ
    Dim Rc As Int = 10                       'Calibration resistance in KΩ
    Dim direction_direct As Byte = 0
    Dim direction_reverse As Byte = 1
    Dim proportionalOn_measure As Byte = 0
    Dim proportionalOn_error As Byte = 1

    Dim setpnt As Int                                     'inline C code will set this value
    Dim illum As Int                                      'inline C code will set this value
    Dim outpt As Int                                      'inline C code will set this value
    Dim ito As Boolean                                    'inline C code will set this value
    Dim error As Double                                   'inline C code will set this value
    Dim correctedkp, correctedki, correctedkd As Double   'inline C code will set this value
    Dim termp, termi, termd As Double                     'inline C code will set this value

End Sub

Private Sub AppStart
    t.Initialize("t_tick", 100)   
    output_min = 0
    output_max = 255
    kp = 0.4                    'the kp constant of the PID controller
    ki = 6.0                    'the ki constant of the PID controller
    kd = 0.0001                 'the kd constant of the PID controller
    setpointpin.Initialize(cont.CONTROLLINO_A1, setpointpin.MODE_INPUT)  'pin 55
    feedbackpin.Initialize(cont.CONTROLLINO_A0, feedbackpin.MODE_INPUT)  'pin 54
    outputpin.Initialize(cont.CONTROLLINO_D0, outputpin.MODE_OUTPUT)     'pin 2
    additionaloutputpin.Initialize(cont.CONTROLLINO_D1, additionaloutputpin.MODE_OUTPUT)   'pin 3
    feedbackval = feedbackpin.AnalogRead
    setpointval = setpointpin.AnalogRead
    RunNative("setFeedbackValue", Null)             'pass the plant feedback value to the PIDController
    RunNative("setSetpointValue", Null)             'pass the setpoint (in this case a POT) to the PIDController
    RunNative("TurnOn", Null)                       'Turn the PIDController ON
    RunNative("setParameters", Null)                'set the kp, ki, kd parameters of the PIDController
    RunNative("SetOutputLimits", Null)              'limit the output to the range 0...255
    RunNative("SetDirection", direction_direct)     'can also be direction_reverse
    t.Enabled = True                                'enable the timer
End Sub

Sub t_tick
    feedbackval = readFeedback                     'get the feedback from the plant (in this case a LDR) - see the B4R Sub
    setpointval = setpointpin.AnalogRead / 4
    RunNative("setSetpointValue", Null)            'set the setpoint value of the PIDController
    RunNative("setFeedbackValue", Null)            'pass the palnt feedback value to the PIDController
    RunNative("Update", Null)                      'Tell the PIDController to update itself based on new values that was set above

    RunNative("getOutputValue", Null)              'get the Output value of the PIDController - it will update variable outputval of the B4R code
    outputpin.AnalogWrite(outputval)               'write the output value to the output pin (in this case a LED that changes brightness and shines directly onto the LDR))
    additionaloutputpin.AnalogWrite(outputval)     'just an additional output - I have a 24VDC fan connected to this pin

    Log("Setpoint = ", setpointval)                'Log the Setpoint - it is set by the inline C code
    Log("Feedback = ", feedbackval)                'Log the Illumination value from the LDR - it is set by the inline C code
    Log("Output = ", outputval)                    'Log the Output - it is set by the inline C code and will drive the brighness of the LED that is aimed at the LDR
    RunNative("IsTurnedOn", Null)                  'check if the PID controller is on
    Log("isTurnedOn = ", ito) 
    RunNative("GetError", Null)                    'get the error between the setpoint and the feedack                   
    Log("Error = ", error)
'    RunNative("GetKp", Null)
'    Log("Kp = ", kp)
'    RunNative("GetKi", Null)
'    Log("Ki = ", ki)
'    RunNative("GetKd", Null)
'    Log("Kd = ", kd)
'    RunNative("GetCorrectedKp", Null)
'    Log("correctedKp = ", correctedkp)
'    RunNative("GetCorrectedKi", Null)
'    Log("correctedKi = ", correctedki)
'    RunNative("GetCorrectedKd", Null)
'    Log("correctedKd = ", correctedkd)
'    RunNative("GetTermP", Null)
'    Log("TermP = ", termp)
'    RunNative("GetTermI", Null)
'    Log("TermI = ", termi)
'    RunNative("GetTermD", Null)
'    Log("TermD = ", termd)

    Log(" ")

End Sub

Sub readFeedback As Float                    'specific to the LDR I am using as feedback from the "plant"
    Dim mean As Float = 0
    Dim V As Float
    For i = 0 To 99
        V = feedbackpin.AnalogRead
        mean = mean +  (V * A * 10) / (B * Rc * (1024 - V))
    mean  = mean / 100
    Return mean
End Sub

#If C

#include "PIDController.hpp"

int pidDirection;

int pidProportionalOn;

PID::PIDParameters < double > parameters;
PID::PIDController < double > pidController(parameters);

void setFeedbackValue(B4R::Object* o) {
    pidController.Input = b4r_main::_feedbackval;

void setSetpointValue(B4R::Object* o) {
    pidController.Setpoint = b4r_main::_setpointval;

void getOutputValue(B4R::Object* o) {
    b4r_main::_outputval = pidController.Output;

void setParameters(B4R::Object* o) {
    parameters.Set(b4r_main::_kp, b4r_main::_ki, b4r_main::_kd);

void SetOutputLimits(B4R::Object* o) {
    pidController.SetOutputLimits(b4r_main::_output_min, b4r_main::_output_max);

void Update(B4R::Object* o) {

void TurnOn(B4R::Object* o) {

void TurnOff(B4R::Object* o) {

void Toggle(B4R::Object* o) {

void IsTurnedOn(B4R::Object* o) {
    b4r_main::_ito = pidController.IsTurnedOn();

void GetError(B4R::Object* o) {
   b4r_main::_error = pidController.GetError();

void GetKp(B4R::Object* o) {
   b4r_main::_kp = pidController.GetKp();

void GetKi(B4R::Object* o) {
   b4r_main::_ki = pidController.GetKi();

void GetKd(B4R::Object* o) {
   b4r_main::_kd = pidController.GetKd();

void GetCorrectedKp(B4R::Object* o) {
   b4r_main::_correctedkp = pidController.GetCorrectedKp();

void GetCorrectedKi(B4R::Object* o) {
   b4r_main::_correctedki = pidController.GetCorrectedKi();

void GetCorrectedKd(B4R::Object* o) {
   b4r_main::_correctedkd = pidController.GetCorrectedKd();

void GetTermP(B4R::Object* o) {
    b4r_main::_termp = pidController.GetTermP();

void GetTermI(B4R::Object* o) {
    b4r_main::_termi = pidController.GetTermI();

void GetTermD(B4R::Object* o) {
    b4r_main::_termd = pidController.GetTermD();

void SetDirection(B4R::Object* o) {
    pidDirection = (Byte)o->toULong();   
    if (pidDirection == 0)
    if (pidDirection == 1)

void SetProportionalOn(B4R::Object* o) {
    pidProportionalOn = (Byte)o->toULong();   
    if (pidProportionalOn == 0)
    if (pidProportionalOn == 1)

#End If

Shout if you need some clarification - will try to assist the best I can. But this is a very nice PIDController.


  • B4RControllinoPIDtoModify.zip
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