B4R Library rAutoPID for B4R

this is a wrapper for AutoPID from https://github.com/r-downing/AutoPID

some modifications were done in original library to work with B4R with "float" because "double" is not managed by B4R

=> input, setpoint and output must be ArrayDouble global variables with 1 element to be modified directly by the library

example :

Sub Process_Globals
    Private AutoPID As AutoPID    
    Public input(1) As Double 
    Public setpoint(1) As Double
    Public output(1) As Double 
    Private outputMin, outputMax, Kp, Ki, Kd As Double
End Sub
Private Sub AppStart
    Serial1.Initialize(115200)
    Log("AppStart")
    outputMin=0 : outputMax=20000
    Kp=0: Ki=5: Kd=50
    input(0)=20.1  :setpoint(0)=12.2  :output(0)=0.25
    AutoPID.Initialize(input,setpoint,output,outputMin,outputMax,Kp,Ki,Kd) 
    AutoPID.setTimeStep(200)
End Sub