#include <PID_v1.h>
#include <TroykaButton.h>
#include <Servo.h>
#define PIN_INPUT A0
#define PIN_INPUT1 A1
#define PIN_OUTPUT 11
#define PIN_OUTPUT1 9
#define B 3950 // B-коэффициент
#define SERIAL_R 100000 // сопротивление последовательного резистора, 100 кОм
#define THERMISTOR_R 100000 // номинальное сопротивления термистора, 100 кОм
#define NOMINAL_T 25 // номинальная температура (при которой TR = 100 кОм)
double Setpoint, Setpoint1, Input, Input1, Output, Output1;
double aggKp = 1.3, aggKi = 0.13, aggKd = 0.3;
double consKp = 1.1, consKi = 0.13, consKd = 0.25;
long lastTimeClick = 0;
PID myPID(&Input, &Output, &Setpoint, consKp, consKi, consKd, DIRECT);
PID myPID1(&Input1, &Output1, &Setpoint1, aggKp, aggKi, aggKd, DIRECT);
Servo myServo;
TroykaButton button(2);
void setup()
{

  pinMode( PIN_INPUT, INPUT );
  pinMode( PIN_INPUT1, INPUT );
  Setpoint = 205;
  Setpoint1 = 205;
  myPID.SetMode(AUTOMATIC);
  myPID1.SetMode(AUTOMATIC);
  myServo.attach(5);
  myServo.write(0);
  button.begin();

}

void loop()
{
  button.read();
  if (button.isClick()) {
    myServo.write(179);
    lastTimeClick = millis();
  }
  if (millis() - lastTimeClick > 7000) {
    myServo.write(0);
  }
  long g = 0;
  for (int i = 0; i <= 10; i++) {
    g += analogRead( PIN_INPUT );
  }
  g /= 10;
  Input = temperatureCalc(g);
  myPID.Compute();
  analogWrite(PIN_OUTPUT, Output);
  g = 0;
  for (int i = 0; i <= 10; i++) {
    g += analogRead( PIN_INPUT1 );
  }
  g /= 10;
  Input1 = temperatureCalc(g);
  myPID1.Compute();
  analogWrite(PIN_OUTPUT1, Output1);
  Serial.println("INPUT = " + String(Input) + '\t' + "OUTPUT = " + String(Output) + '\t' + "INPUT1 = " + String(Input1) + '\t' + "OUTPUT1 = " + String(Output1));
}
float temperatureCalc(int t) {
  float tr = 1023.0 / t - 1;
  tr = SERIAL_R / tr;
  float steinhart;
  steinhart = tr / THERMISTOR_R; // (R/Ro)
  steinhart = log(steinhart); // ln(R/Ro)
  steinhart /= B; // 1/B * ln(R/Ro)
  steinhart += 1.0 / (NOMINAL_T + 273.15); // + (1/To)
  steinhart = 1.0 / steinhart; 
  steinhart -= 273.15;
  return steinhart;
}