Diff: PID/PID.cpp

Revision:

55:ee5257fb73df

Parent:

54:c14c3bc48b8a

Child:

57:43f707648f2b

--- a/PID/PID.cpp	Fri Oct 09 12:08:35 2015 +0000
+++ b/PID/PID.cpp	Fri Oct 09 12:59:00 2015 +0000
@@ -41,7 +41,7 @@
 		// (could still be tuned for derivative kick)
 
 		// compute PID output
-		float output  = Kp * error + Ki * errSum + Kd * dErr;
+		float output  = kp * error + ki * errSum + kd * dErr;
 		// make sure output is allso within min/max
 		if(output> outMax) output=outMax;
 		else if(output<outMin) output=outMin;
@@ -55,9 +55,9 @@
 
 void PID::SetTunings(float Kp, float Ki, float Kd)
 {
-	Kp = Kp;
-	Ki = Ki * SampleTime; // change PID parameters according to sample time
-	Kd = Kd / SampleTime;
+	kp = Kp;
+	ki = Ki * SampleTime; // change PID parameters according to sample time
+	kd = Kd / SampleTime;
 }
 
 
@@ -65,8 +65,8 @@
 	if (NewSampleTime > 0 ){
 		// change ratios for parameters for better computation in compute()
 		float ratio = NewSampleTime/SampleTime;
-		Ki *= ratio;
-		Kd /= ratio;
+		ki *= ratio;
+		kd /= ratio;
 		SampleTime = NewSampleTime;
 	}
 }
@@ -80,8 +80,8 @@
 		if(*myOutput > outMax) *myOutput = outMax;
 		else if(*myOutput < outMin) *myOutput = outMin;
 	
-		if(errSum> outMax) errSum= outMax;
-		else if(errSum< outMin) errSum= outMin;
+		if(errSum > outMax) errSum= outMax;
+		else if(errSum < outMin) errSum= outMin;
 	}
 }
 
@@ -89,7 +89,7 @@
 	// Turn PID on(AUTOMATIC) or off(MANUAL)
 	bool newAuto = (Mode == AUTOMATIC);
 	if(newAuto && !inAuto){
-		Initialize(); // avoid bump because of stored values
+		PID::Initialize(); // avoid bump because of stored values
 	}
 	inAuto = newAuto;
 }
@@ -100,4 +100,9 @@
 	lastErr = 0;
 	if(errSum> outMax) errSum=outMax;
 	else if(errSum<outMin) errSum=outMin;
-}
\ No newline at end of file
+}
+
+float PID::getOutput(){
+	return output;
+	}
+	
\ No newline at end of file