//---- Arduino PID Library - Version 1.2.1 by Brett Beauregard <[email protected]> brettbeauregard.com ----
#include "PID_v1.h"

//------------------ VARIABEL PID ------------------------------
double setpoint, input, output;

//------------------ VARIABEL KONSTANTA PID --------------------
double kp = 20, ki = 5, kd = 2;

//----------------- FUNGSI PID ------------------------------
PID pids(&input, &output, &setpoint, kp, ki, kd, P_ON_E, DIRECT);

//---------------- INISIALISASI PIN ----------------------------
const int PWM_PIN = 3;
const int INPUT_PIN = A1;
const int SETPOINT_PIN = A0;
const int LED_GREEN = 6;
const int LED_RED = 7;


void setup() {
  
  Serial.begin(115200);
  Serial.println(__FILE__); //---WOKWI ONLY---

  pids.SetOutputLimits(0, 255);
  pids.SetSampleTime(5000);

  pinMode(LED_GREEN, OUTPUT);
  pinMode(LED_RED, OUTPUT);

  //------------ MENGATUR/MENYALAKAN MODE PID -----------
  pids.SetMode(AUTOMATIC);

}

void loop() {
  
  if(INPUT_PIN > 0){
    input = map(analogRead(INPUT_PIN), 115.0, 511.2, 80, 25);
  }
  //komputasi PID
  if(pids.Compute()){
    analogWrite(PWM_PIN, (int)output); //------ MENAMPUNG NILAI OUTPUT PID KE VARIABLE PWM_PIN----
    setpoint = map(analogRead(SETPOINT_PIN), 0, 1023, 16, 80);

  
  }
  //---------- MEMANGGIL FUNGSI REPORT -----------------------------------
  report();
  
}

//---------- FUNGSI UNTUK MENCETAK NILAI PADA SERIAL MONITOR--------------
void report(void){
  static uint32_t last = 0;
  const int interval = 1000; //------ INTERVAL PENCETAKAN PADA SERIAL MONITOR -------
  if(millis() - last > interval){
    last += interval;
    if(output > 0){
      digitalWrite(LED_GREEN, HIGH);
      digitalWrite(LED_RED, LOW);
    }else{
      digitalWrite(LED_GREEN, LOW);
      digitalWrite(LED_RED, HIGH);
    }
    Serial.print("SP:");
    Serial.print(setpoint);
    Serial.print(" PV:");
    Serial.print(input);
    Serial.print(" CV:");
    Serial.print(output);
    Serial.print(' ');
    Serial.println();

  }
}