Add PID Controller node

function/PID/pidcontrol.html

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+<!--
+  Copyright 2015 IBM Corp.
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+  http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<script type="text/x-red" data-template-name="PID control">
+    <div class="form-row">
+        <label for="node-input-target" style="width:120px;"><i class="fa fa-dot-circle-o"></i> Set Point</label>
+        <input type="text" id="node-input-target" placeholder="target value" style="width:60%;">
+    </div>
+    <div class="form-row">
+        <label for="node-input-kp" style="width:120px;"><font size=+1>K<sub>proportional</sub></font></label>
+        <input type="text" id="node-input-kp" placeholder="proportional gain constant - Kp" style="width:60%;">
+    </div>
+    <div class="form-row">
+        <label for="node-input-ki" style="width:120px;"><font size=+1>K<sub>integral</sub></font></label>
+        <input type="text" id="node-input-ki" placeholder="integral gain constant - Ki" style="width:60%;">
+    </div>
+    <div class="form-row">
+        <label for="node-input-kd" style="width:120px;"><font size=+1>K<sub>differential</sub></font></label>
+        <input type="text" id="node-input-kd" placeholder="differential gain constant - Kd" style="width:60%;">
+    </div>
+    <div class="form-row">
+        <label for="node-input-name" style="width:120px;"><i class="fa fa-tag"></i> Name</label>
+        <input type="text" id="node-input-name" placeholder="Name" style="width:60%;">
+    </div>
+    <div class="form-tips"><b>Tip:</b> This node ONLY works on numbers<br>
+    The damping factors are typically in the range 0 - 1.<br></div>
+</script>
+
+<script type="text/x-red" data-help-name="PID control">
+    <p>A PID controller node.</p>
+    <p>This node ONLY expects a numeric <b>msg.payload</b> containing the current reading.
+    It will output the correction that needs to be applied in order to move to the preset <i>set point</i> value.</p>
+    <p>See <a href="https://en.wikipedia.org/wiki/PID_controller" target="_new">Wikipedia</a> for more details.</p>
+    <p>The <i>set point</i> may be overridden by <b>msg.setpoint</b>. If you do so the edit box value can be used as the initial value.</p>
+</script>
+
+<script type="text/javascript">
+    RED.nodes.registerType('PID control',{
+        color:"#d6ba48",
+        category: 'function',
+        defaults: {
+            name: {value:""},
+            target: {value:"",validate:RED.validators.regex(/^(\d*|)$/)},
+            kp: {value:"",required:true,validate:RED.validators.number()},
+            ki: {value:"",required:true,validate:RED.validators.number()},
+            kd: {value:"",required:true,validate:RED.validators.number()}
+        },
+        inputs:1,
+        outputs:1,
+        icon: "function.png",
+        label: function() {
+            return this.name||"PID";
+        },
+        labelStyle: function() {
+            return this.name?"node_label_italic":"";
+        }
+    });
+</script>