replace delay with timer

Author: Dlloydev

examples/AutoTune_Filter_DIRECT/AutoTune_Filter_DIRECT.ino

@@ -74,7 +74,7 @@ void loop() {
     _myPID.Compute();
     analogWrite(outputPin, Output);
   }
-  //delay(1); // adjust loop speed
+  delay(1); // adjust loop speed
 }
 
 float avg(int inputVal) {

examples/AutoTune_Filter_REVERSE/AutoTune_Filter_REVERSE.ino

@@ -75,7 +75,7 @@ void loop() {
     _myPID.Compute();
     analogWrite(outputPin, Output);
   }
-  //delay(1); // adjust loop speed
+  delay(1); // adjust loop speed
 }
 
 float avg(int inputVal) {

src/QuickPID.cpp

@@ -248,14 +248,18 @@ byte AutoTunePID::autoTuneLoop()
       break;
     case STABILIZING:
       if (_printOrPlotter == 1) Serial.print(F("Stabilizing →"));
+      _t0 = millis();
       _peakHigh = _atSetpoint;
       _peakLow = _atSetpoint;
       (!_direction) ? *_output = 0 : *_output = _atOutput + _outputStep + 5;
       _autoTuneStage = COARSE;
       return AUTOTUNE;
       break;
     case COARSE: // coarse adjust
-      delay(2000);
+      if (millis() - _t0 < 2000) {
+        return AUTOTUNE;
+        break;
+      }
       if (*_input < (_atSetpoint - _hysteresis)) {
         (!_direction) ? *_output = _atOutput + _outputStep + 5 : *_output = _atOutput - _outputStep - 5;
         _autoTuneStage = FINE;