/*#include <PID_v1_bc.h>
const int photores = A0;   // LDR input pin
const int pot = A1;        // Potentiometer input pin
const int led = 3;         // LED output pin
double lightLevel;         // Indirectly store the light level
// Tuning parameters
float Kp = 0;              // Proportional gain
float Ki = 10;             // Integral gain
float Kd = 0;              // Differential gain
// Record the set point as well as the controller input and output
double Setpoint, Input, Output;
// Create a controller that is linked to the specified Input, Ouput and Setpoint
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
const int sampleRate = 1;        // Time interval of the PID control
const long serialPing = 500;     // How often data is recieved from the Arduino
unsigned long now = 0;           // Store the time that has elapsed
unsigned long lastMessage = 0;   // The last time that data was recieved
 
void setup()
 {
 lightLevel = analogRead(photores);                 // Read the set point
 // Arduino has an analogueRead() resolution of 0-1023 and an analogueWrite() resolution of 0-255
 Input = map(lightLevel, 0, 1023, 0, 255);        // Scale the input
 Setpoint = map(analogRead(pot), 0, 1023, 0, 255);  // Scale the set point
  //Setpoint = 100;
 Serial.begin(9600);                                // Initialise serial communications at 9600 bps
 myPID.SetMode(AUTOMATIC);                          // Turn on the PID control
 myPID.SetSampleTime(sampleRate);                   // Assign the sample rate of the control
 Serial.println("Begin");                           // Let the user know that the set up s complete
 lastMessage = millis();                            // Serial data will be recieved relative to this first point
 }
  
void loop()
 {
 //Setpoint = map(analogRead(pot), 0, 1023, 0, 255);  // Continue to read and scale the set point
 lightLevel = analogRead(photores);                 // Read the light level
 Input = map(lightLevel, 0, 1023, 0, 255);          // Scale the input to the PID
 myPID.Compute();                                   // Calculates the PID output at a specified sample time
 analogWrite(led, Output);                          // Power the LED
 now = millis();                                    // Keep track of the elapsed time
 if(now - lastMessage > serialPing)                 // If enough time has passed send data
 {
 Serial.print("Setpoint = ");
 Serial.print(Setpoint);
 Serial.print(" Input = ");
 Serial.print(Input);
 Serial.print(" Output = ");
 Serial.print(Output);
 Serial.print("\n");
 // The tuning parameters can be retrieved by the Arduino from the serial monitor: 0,0.5,0 set Ki to 0.5.
 // Commas are ignored by the Serial.parseFloat() command
 if (Serial.available() > 0)
 {
 for (int x = 0; x < 4; x++)
 {
 switch(x)
 {
 case 0:
 Kp = Serial.parseFloat();
 break;
 case 1:
 Ki = Serial.parseFloat();
 break;
 case 2:
 Kd = Serial.parseFloat();
 break;
 case 3:
 for (int y = Serial.available(); y == 0; y--)
 {
 Serial.read();
 }
 break;
 }
 }
 Serial.print(" Kp,Ki,Kd = ");  // Display the new parameters
 Serial.print(Kp);
 Serial.print(",");
 Serial.print(Ki);
 Serial.print(",");
 Serial.print(Kd);
 myPID.SetTunings(Kp, Ki, Kd);  // Set the tuning of the PID loop
 }
 lastMessage = now;               // Reference the next serial communication to this point
 }
 }

/* #include <PID_v1_bc.h>
//Variables
double Setpoint, Input, Output;
//PID parameters
double Kp=0, Ki=10, Kd=0;

//Start PID instance
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);

void setup()
{
  //Start a serial connection to send data by serial connection
  Serial.begin(9600);   
  //Set point : Here is the brightness target
  Setpoint = 100;
  //Turn the PID on
  myPID.SetMode(AUTOMATIC);
  //Adjust PID values
  myPID.SetTunings(Kp, Ki, Kd);
}

void loop()
{
  //Read the value from the light sensor. Analog input : 0 to 1024. We map is to a value from 0 to 255 as it's used for our PWM function.
  Input = map(analogRead(0), 0, 1024, 0, 255); 
  //PID calculation
  myPID.Compute();
  //Write the output as calculated by the PID function
  analogWrite(3,Output);
  //Send data by serial for plotting 
  Serial.print(Input);
  Serial.print(" ");
  Serial.println(Output);   
}*/

// Incluye la librería PID
#include <PID_v1_bc.h>

// Definición de pines
const int ldrPin = A0;
const int ledPin = 3;
int ldrValue;
int output;

// Parámetros PID
double setpoint = 500;  // Valor deseado del LDR
double kp = 1;          // Ganancia proporcional
double ki = 0.1;        // Ganancia integral
double kd = 0.01;       // Ganancia derivativa

// Inicialización del objeto PID
PID myPID(&ldrValue, &output, &setpoint, kp, ki, kd, DIRECT);

void setup() {
  // Inicialización de pines
  pinMode(ldrPin, INPUT);
  pinMode(ledPin, OUTPUT);

  // Inicialización del objeto PID
  myPID.SetMode(AUTOMATIC);
}

void loop() {
  // Lectura del valor del LDR
  int ldrValue = analogRead(ldrPin);

  // Cálculo de la salida del PID
  myPID.Compute();

  // Ajuste de la intensidad del LED
  analogWrite(ledPin, output);
}