From 8afd1dd14a451a99f6fdf683c88956fca43b5397 Mon Sep 17 00:00:00 2001
From: nkaminski <nashkaminski@comcast.net>
Date: Fri, 24 Feb 2017 17:32:42 -0600
Subject: [PATCH 1/2] add NeedsCompute() function

---
 PID_v1.cpp => PID_v2.cpp | 9 +++++++++
 PID_v1.h => PID_v2.h     | 2 ++
 library.json             | 4 ++--
 library.properties       | 2 +-
 4 files changed, 14 insertions(+), 3 deletions(-)
 rename PID_v1.cpp => PID_v2.cpp (97%)
 rename PID_v1.h => PID_v2.h (95%)

diff --git a/PID_v1.cpp b/PID_v2.cpp
similarity index 97%
rename from PID_v1.cpp
rename to PID_v2.cpp
index 86222c7..2cd30c0 100644
--- a/PID_v1.cpp
+++ b/PID_v2.cpp
@@ -44,6 +44,15 @@ PID::PID(double* Input, double* Output, double* Setpoint,
  *   pid Output needs to be computed.  returns true when the output is computed,
  *   false when nothing has been done.
  **********************************************************************************/ 
+bool PID::NeedsCompute()
+{
+   if(!inAuto) return false;
+   unsigned long now = millis();
+   unsigned long timeChange = (now - lastTime);
+   if(timeChange>=SampleTime)
+        return true;
+   return false;
+}
 bool PID::Compute()
 {
    if(!inAuto) return false;
diff --git a/PID_v1.h b/PID_v2.h
similarity index 95%
rename from PID_v1.h
rename to PID_v2.h
index 77b3e4b..b67cc10 100644
--- a/PID_v1.h
+++ b/PID_v2.h
@@ -20,6 +20,8 @@ class PID
 	
     void SetMode(int Mode);               // * sets PID to either Manual (0) or Auto (non-0)
 
+    bool NeedsCompute();                  // * Returns true if calling Compute() will actually
+                                          //   perform a PID computation.
     bool Compute();                       // * performs the PID calculation.  it should be
                                           //   called every time loop() cycles. ON/OFF and
                                           //   calculation frequency can be set using SetMode
diff --git a/library.json b/library.json
index cf2510c..c580cc3 100644
--- a/library.json
+++ b/library.json
@@ -1,9 +1,9 @@
 {
-  "name": "PID",
+  "name": "PIDV2",
   "keywords": "PID, controller, signal",
   "description": "A PID controller seeks to keep some input variable close to a desired setpoint by adjusting an output. The way in which it does this can be 'tuned' by adjusting three parameters (P,I,D).",
   "url": "http://playground.arduino.cc/Code/PIDLibrary",
-  "include": "PID_v1",
+  "include": "PID_v2",
   "authors":
   [
     {
diff --git a/library.properties b/library.properties
index 9a316b0..89a4daa 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=PID
-version=1.1.1
+version=2.0.0
 author=Brett Beauregard 
 maintainer=Brett Beauregard
 sentence=PID controller

From c6d1b7382764f638528c857a32cfaeacc8044096 Mon Sep 17 00:00:00 2001
From: nkaminski <nashkaminski@comcast.net>
Date: Fri, 24 Feb 2017 17:37:06 -0600
Subject: [PATCH 2/2] fix headers

---
 PID_v2.cpp         | 2 +-
 library.properties | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/PID_v2.cpp b/PID_v2.cpp
index 2cd30c0..eb27551 100644
--- a/PID_v2.cpp
+++ b/PID_v2.cpp
@@ -11,7 +11,7 @@
   #include "WProgram.h"
 #endif
 
-#include <PID_v1.h>
+#include <PID_v2.h>
 
 /*Constructor (...)*********************************************************
  *    The parameters specified here are those for for which we can't set up 
diff --git a/library.properties b/library.properties
index 89a4daa..5d7bc1f 100644
--- a/library.properties
+++ b/library.properties
@@ -1,4 +1,4 @@
-name=PID
+name=PIDV2
 version=2.0.0
 author=Brett Beauregard 
 maintainer=Brett Beauregard