Pascal Sandrez / PIDcontroller

Simple PID controller class with output clamp

Dependents:   NXPCUPcar

Diff: PIDcontroller.h

Revision:
2:994ed695c8a5
Parent:
1:946d71f8afc6
diff -r 946d71f8afc6 -r 994ed695c8a5 PIDcontroller.h
--- a/PIDcontroller.h	Wed Jul 05 20:30:07 2017 +0000
+++ b/PIDcontroller.h	Wed Feb 20 22:15:52 2019 +0000
@@ -14,11 +14,13 @@
     void setOutputLimits(float min, float max);
     float processNewValue(float input);
     float getControllerOutput(void);
+    float getIntegralTerm(void);
     
     private:
 
     float target;    
     float kp, ki, kd;
+    float pout,iout,dout;
     float integral, derivative;
     float error, previous_error;
     float outputMin, outputMax;