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Definition: pid("id", sp, pv, kp, ki, kd, dt_ms, out_min, out_max)

Computes a PID output using controller state stored by id. The function returns a float result and updates internal integral/derivative terms.

Arguments

• id: string key for PID state (use different ids for different loops).
• sp: setpoint.
• pv: process value.
• kp, ki, kd: PID gains.
• dt_ms: loop time in milliseconds.
• out_min, out_max: output clamp limits.

Example

every(1000) {
  out = pid("pump", 40, temp(), 1.0, 0.1, 0.05, 1000, 0, 100);
  actuator(1) = out;
}