#include <Arduino.h>
#include <OneWire.h>
#include <DallasTemperature.h>
#include <PID_v1.h>

#define ONE_WIRE_BUS 2
#define LedPIN 3

OneWire oneWire(ONE_WIRE_BUS);
DallasTemperature sensor(&oneWire);

DeviceAddress tempDeviceAddress;

//Define Variables we'll be connecting to
double Setpoint, Input, Output;

int target = 10;

//Define the aggressive and conservative Tuning Parameters
double aggKp=2, aggKi=1, aggKd=2;
double consKp=1, consKi=1, consKd=1;

//double aggKp=4, aggKi=0.2, aggKd=1;
//double consKp=1, consKi=0.05, consKd=0.25;

//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint, consKp, consKi, consKd, DIRECT);

int WindowSize = 1000;
unsigned long windowStartTime;



void setup()
{
  Serial.begin(9600);

  pinMode(LedPIN, OUTPUT);
  digitalWrite(LedPIN, LOW);

  sensor.begin();

  windowStartTime = millis();

  //initialize the variables we're linked to
  //Setpoint = 100;
  Setpoint = target;

  //tell the PID to range between 0 and the full window size
  myPID.SetOutputLimits(0, WindowSize);

  //turn the PID on
  myPID.SetMode(AUTOMATIC);
}

void printTemperature(DeviceAddress deviceAddress)
{
 
  float tempC = sensor.getTempC(deviceAddress);
  if (tempC == DEVICE_DISCONNECTED_C)
  {
    Serial.println("Error: Could not read temperature data");
    return;
  }
  Input = tempC;
  //Serial.print("Temp C: ");
  //Serial.print(tempC);
}

void loop()
{
  sensor.requestTemperatures(); // Send the command to get temperatures
 
  sensor.getAddress(tempDeviceAddress, 0);

  // It responds almost immediately. Let's print out the data
  printTemperature(tempDeviceAddress); // Use  
  
  //-----------------------------------------------------------------------

  double gap = abs(Setpoint-Input); //distance away from setpoint
  if (gap < 10)
  {  //we're close to setpoint, use conservative tuning parameters
    myPID.SetTunings(consKp, consKi, consKd);
  }
  else
  {
     //we're far from setpoint, use aggressive tuning parameters
     myPID.SetTunings(aggKp, aggKi, aggKd);
  }

  myPID.Compute();
  analogWrite(LedPIN, Output);
  Serial.println(Output);
}