34 lines
1.1 KiB
JavaScript
34 lines
1.1 KiB
JavaScript
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module.exports = function(RED) {
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"use strict";
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var Controller = require('node-pid-controller');
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function PIDcontrolNode(n) {
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RED.nodes.createNode(this,n);
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this.target = n.target;
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this.kp = n.kp;
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this.ki = n.ki;
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this.kd = n.kd;
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var node = this;
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node.ctr = new Controller(node.kp, node.ki, node.kd);
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node.ctr.setTarget(node.target);
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this.status({fill:"blue",shape:"dot",text:"set point:"+node.target});
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var tgt = node.target;
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this.on("input",function(msg) {
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if (msg.hasOwnProperty("setpoint")) {
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tgt = Number(msg.setpoint);
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node.ctr.setTarget(tgt);
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this.status({fill:"blue",shape:"dot",text:"set point:"+tgt});
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}
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else if (!isNaN(msg.payload)) {
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msg.payload = node.ctr.update(Number(msg.payload));
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msg.topic = "pid";
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node.send(msg);
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}
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else { node.warn("Non numeric input"); }
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});
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}
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RED.nodes.registerType("PID control",PIDcontrolNode);
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}
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