![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
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