Reset the last pulse time when needed.

Inspired by r-downing#18

Author: ademuri

AutoPID.cpp

@@ -88,9 +88,18 @@ void AutoPID::setIntegral(double integral) { _integral = integral; }
 
 void AutoPIDRelay::run() {
   AutoPID::run();
+  if (!_hasRun) {
+    _lastPulseTime = millis();
+    _hasRun = true;
+  }
   while ((millis() - _lastPulseTime) > _pulseWidth)
     _lastPulseTime += _pulseWidth;
   *_relayState = ((millis() - _lastPulseTime) < (_pulseValue * _pulseWidth));
 }
 
 double AutoPIDRelay::getPulseValue() { return (isStopped() ? 0 : _pulseValue); }
+
+void AutoPIDRelay::reset() {
+  AutoPID::reset();
+  _lastPulseTime = millis();
+}

AutoPID.h

@@ -26,7 +26,7 @@ class AutoPID {
   void run();
   // Stops PID functionality, output sets to
   void stop();
-  void reset();
+  virtual void reset();
   bool isStopped();
 
   double getIntegral();
@@ -56,9 +56,12 @@ class AutoPIDRelay : public AutoPID {
 
   double getPulseValue();
 
+  void reset() override;
+
  private:
   bool *_relayState;
-  unsigned long _pulseWidth, _lastPulseTime;
+  unsigned long _pulseWidth;
+  unsigned long _lastPulseTime;
   double _pulseValue;
 };  // class AutoPIDRelay