Added arduino libs

libraries/PID/examples/PID_AdaptiveTunings/PID_AdaptiveTunings.ino

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+/********************************************************
+ * PID Adaptive Tuning Example
+ * One of the benefits of the PID library is that you can
+ * change the tuning parameters at any time.  this can be
+ * helpful if we want the controller to be agressive at some
+ * times, and conservative at others.   in the example below
+ * we set the controller to use Conservative Tuning Parameters
+ * when we're near setpoint and more agressive Tuning
+ * Parameters when we're farther away.
+ ********************************************************/
+
+#include <PID_v1.h>
+
+#define PIN_INPUT 0
+#define PIN_OUTPUT 3
+
+//Define Variables we'll be connecting to
+double Setpoint, Input, Output;
+
+//Define the aggressive and conservative Tuning Parameters
+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);
+
+void setup()
+{
+  //initialize the variables we're linked to
+  Input = analogRead(PIN_INPUT);
+  Setpoint = 100;
+
+  //turn the PID on
+  myPID.SetMode(AUTOMATIC);
+}
+
+void loop()
+{
+  Input = analogRead(PIN_INPUT);
+
+  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(PIN_OUTPUT, Output);
+}
+
+

libraries/PID/examples/PID_Basic/PID_Basic.ino

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+/********************************************************
+ * PID Basic Example
+ * Reading analog input 0 to control analog PWM output 3
+ ********************************************************/
+
+#include <PID_v1.h>
+
+#define PIN_INPUT 0
+#define PIN_OUTPUT 3
+
+//Define Variables we'll be connecting to
+double Setpoint, Input, Output;
+
+//Specify the links and initial tuning parameters
+double Kp=2, Ki=5, Kd=1;
+PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
+
+void setup()
+{
+  //initialize the variables we're linked to
+  Input = analogRead(PIN_INPUT);
+  Setpoint = 100;
+
+  //turn the PID on
+  myPID.SetMode(AUTOMATIC);
+}
+
+void loop()
+{
+  Input = analogRead(PIN_INPUT);
+  myPID.Compute();
+  analogWrite(PIN_OUTPUT, Output);
+}
+
+

libraries/PID/examples/PID_PonM/PID_PonM.ino

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+/********************************************************
+ * PID Proportional on measurement Example
+ * Setting the PID to use Proportional on measurement will 
+ * make the output move more smoothly when the setpoint 
+ * is changed.  In addition, it can eliminate overshoot
+ * in certain processes like sous-vides.
+ ********************************************************/
+
+#include <PID_v1.h>
+
+//Define Variables we'll be connecting to
+double Setpoint, Input, Output;
+
+//Specify the links and initial tuning parameters
+PID myPID(&Input, &Output, &Setpoint,2,5,1,P_ON_M, DIRECT); //P_ON_M specifies that Proportional on Measurement be used
+                                                            //P_ON_E (Proportional on Error) is the default behavior
+
+void setup()
+{
+  //initialize the variables we're linked to
+  Input = analogRead(0);
+  Setpoint = 100;
+
+  //turn the PID on
+  myPID.SetMode(AUTOMATIC);
+}
+
+void loop()
+{
+  Input = analogRead(0);
+  myPID.Compute();
+  analogWrite(3,Output);
+}
+
+
+

libraries/PID/examples/PID_RelayOutput/PID_RelayOutput.ino

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+/********************************************************
+ * PID RelayOutput Example
+ * Same as basic example, except that this time, the output
+ * is going to a digital pin which (we presume) is controlling
+ * a relay.  the pid is designed to Output an analog value,
+ * but the relay can only be On/Off.
+ *
+ *   to connect them together we use "time proportioning
+ * control"  it's essentially a really slow version of PWM.
+ * first we decide on a window size (5000mS say.) we then
+ * set the pid to adjust its output between 0 and that window
+ * size.  lastly, we add some logic that translates the PID
+ * output into "Relay On Time" with the remainder of the
+ * window being "Relay Off Time"
+ ********************************************************/
+
+#include <PID_v1.h>
+
+#define PIN_INPUT 0
+#define RELAY_PIN 6
+
+//Define Variables we'll be connecting to
+double Setpoint, Input, Output;
+
+//Specify the links and initial tuning parameters
+double Kp=2, Ki=5, Kd=1;
+PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
+
+int WindowSize = 5000;
+unsigned long windowStartTime;
+
+void setup()
+{
+  windowStartTime = millis();
+
+  //initialize the variables we're linked to
+  Setpoint = 100;
+
+  //tell the PID to range between 0 and the full window size
+  myPID.SetOutputLimits(0, WindowSize);
+
+  //turn the PID on
+  myPID.SetMode(AUTOMATIC);
+}
+
+void loop()
+{
+  Input = analogRead(PIN_INPUT);
+  myPID.Compute();
+
+  /************************************************
+   * turn the output pin on/off based on pid output
+   ************************************************/
+  if (millis() - windowStartTime > WindowSize)
+  { //time to shift the Relay Window
+    windowStartTime += WindowSize;
+  }
+  if (Output < millis() - windowStartTime) digitalWrite(RELAY_PIN, HIGH);
+  else digitalWrite(RELAY_PIN, LOW);
+
+}
+
+
+