Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

Diff: PID/PID.cpp

Revision:
60:20945383ad1b
Parent:
58:0ef7bb34fe29
Child:
62:6c566e6f9664
--- a/PID/PID.cpp	Mon Oct 12 12:16:58 2015 +0200
+++ b/PID/PID.cpp	Mon Oct 12 11:46:05 2015 +0000
@@ -101,4 +101,15 @@
 	if(ITerm> outMax) ITerm=outMax;
 	else if(ITerm<outMin) ITerm=outMin;
 }
-	
\ No newline at end of file
+
+float PID::getKp(){
+	return kp;
+}
+	
+float PID::getKi(){
+	return ki/SampleTime;
+}
+
+float PID::getKd(){
+	return kd*SampleTime;
+}
\ No newline at end of file