Hang Liu
Fork of
PID
by 
Kamil Foryszewski
PID.cpp@3:7f0ed54318df, 2016-11-08 (annotated)
- Committer:
- HangL
- Date:
- Tue Nov 08 21:19:04 2016 +0000
- Revision:
- 3:7f0ed54318df
- Parent:
- 2:0fff4827f3b6
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| aberk | 0:6e12a3e5af19 | 1 | #include "PID.h" |
| aberk | 0:6e12a3e5af19 | 2 | |
| HangL | 2:0fff4827f3b6 | 3 | |
| HangL | 3:7f0ed54318df | 4 | float Stand_Kc=86.4/*84.0*//*120.0*/;float Stand_tauI=0.0288/*0.0028*//*0.004 and if times 10 is better!*/;float Stand_tauD=0.000504/*0.000504*//*0.0007*/; |
| HangL | 3:7f0ed54318df | 5 | float Speed_Kc=/*3.0*/40.0;float Speed_tauI=/*0.015*/0.20;float Speed_tauD=0.0;//20,0.1better than 26.0,0.13 |
| HangL | 2:0fff4827f3b6 | 6 | //PID::PID(float Kc, float tauI, float tauD, float interval) |
| HangL | 2:0fff4827f3b6 | 7 | PID::PID(float interval) |
| HangL | 2:0fff4827f3b6 | 8 | { |
| aberk | 0:6e12a3e5af19 | 9 | |
| aberk | 0:6e12a3e5af19 | 10 | usingFeedForward = false; |
| aberk | 0:6e12a3e5af19 | 11 | inAuto = false; |
| aberk | 0:6e12a3e5af19 | 12 | |
| kfforex | 1:0ffb635770b3 | 13 | setInputLimits(-90.0,90.0 ); |
| kfforex | 1:0ffb635770b3 | 14 | setOutputLimits(-3500.0, 3500.0); |
| aberk | 0:6e12a3e5af19 | 15 | |
| aberk | 0:6e12a3e5af19 | 16 | tSample_ = interval; |
| aberk | 0:6e12a3e5af19 | 17 | |
| HangL | 2:0fff4827f3b6 | 18 | // setTunings(float Kc,float tauI,float tauD); |
| HangL | 2:0fff4827f3b6 | 19 | /*****************after modifying**********************/ |
| HangL | 2:0fff4827f3b6 | 20 | setStandTunings(Stand_Kc,Stand_tauI,Stand_tauD); |
| HangL | 2:0fff4827f3b6 | 21 | // setSpeedTunings(Speed_Kc,Speed_tauI,Speed_tauD); |
| HangL | 2:0fff4827f3b6 | 22 | /******************************************************/ |
| aberk | 0:6e12a3e5af19 | 23 | setPoint_ = 0.0; |
| aberk | 0:6e12a3e5af19 | 24 | processVariable_ = 0.0; |
| aberk | 0:6e12a3e5af19 | 25 | prevProcessVariable_ = 0.0; |
| aberk | 0:6e12a3e5af19 | 26 | controllerOutput_ = 0.0; |
| aberk | 0:6e12a3e5af19 | 27 | prevControllerOutput_ = 0.0; |
| aberk | 0:6e12a3e5af19 | 28 | |
| aberk | 0:6e12a3e5af19 | 29 | accError_ = 0.0; |
| aberk | 0:6e12a3e5af19 | 30 | bias_ = 0.0; |
| aberk | 0:6e12a3e5af19 | 31 | |
| aberk | 0:6e12a3e5af19 | 32 | realOutput_ = 0.0; |
| aberk | 0:6e12a3e5af19 | 33 | } |
| aberk | 0:6e12a3e5af19 | 34 | |
| aberk | 0:6e12a3e5af19 | 35 | void PID::setInputLimits(float inMin, float inMax) { |
| aberk | 0:6e12a3e5af19 | 36 | |
| aberk | 0:6e12a3e5af19 | 37 | //Make sure we haven't been given impossible values. |
| aberk | 0:6e12a3e5af19 | 38 | if (inMin >= inMax) { |
| aberk | 0:6e12a3e5af19 | 39 | return; |
| aberk | 0:6e12a3e5af19 | 40 | } |
| aberk | 0:6e12a3e5af19 | 41 | |
| aberk | 0:6e12a3e5af19 | 42 | //Rescale the working variables to reflect the changes. |
| aberk | 0:6e12a3e5af19 | 43 | prevProcessVariable_ *= (inMax - inMin) / inSpan_; |
| aberk | 0:6e12a3e5af19 | 44 | accError_ *= (inMax - inMin) / inSpan_; |
| aberk | 0:6e12a3e5af19 | 45 | |
| aberk | 0:6e12a3e5af19 | 46 | //Make sure the working variables are within the new limits. |
| aberk | 0:6e12a3e5af19 | 47 | if (prevProcessVariable_ > 1) { |
| aberk | 0:6e12a3e5af19 | 48 | prevProcessVariable_ = 1; |
| aberk | 0:6e12a3e5af19 | 49 | } else if (prevProcessVariable_ < 0) { |
| aberk | 0:6e12a3e5af19 | 50 | prevProcessVariable_ = 0; |
| aberk | 0:6e12a3e5af19 | 51 | } |
| aberk | 0:6e12a3e5af19 | 52 | |
| aberk | 0:6e12a3e5af19 | 53 | inMin_ = inMin; |
| aberk | 0:6e12a3e5af19 | 54 | inMax_ = inMax; |
| aberk | 0:6e12a3e5af19 | 55 | inSpan_ = inMax - inMin; |
| aberk | 0:6e12a3e5af19 | 56 | |
| aberk | 0:6e12a3e5af19 | 57 | } |
| aberk | 0:6e12a3e5af19 | 58 | |
| aberk | 0:6e12a3e5af19 | 59 | void PID::setOutputLimits(float outMin, float outMax) { |
| aberk | 0:6e12a3e5af19 | 60 | |
| aberk | 0:6e12a3e5af19 | 61 | //Make sure we haven't been given impossible values. |
| aberk | 0:6e12a3e5af19 | 62 | if (outMin >= outMax) { |
| aberk | 0:6e12a3e5af19 | 63 | return; |
| aberk | 0:6e12a3e5af19 | 64 | } |
| aberk | 0:6e12a3e5af19 | 65 | |
| aberk | 0:6e12a3e5af19 | 66 | //Rescale the working variables to reflect the changes. |
| aberk | 0:6e12a3e5af19 | 67 | prevControllerOutput_ *= (outMax - outMin) / outSpan_; |
| aberk | 0:6e12a3e5af19 | 68 | |
| aberk | 0:6e12a3e5af19 | 69 | //Make sure the working variables are within the new limits. |
| aberk | 0:6e12a3e5af19 | 70 | if (prevControllerOutput_ > 1) { |
| aberk | 0:6e12a3e5af19 | 71 | prevControllerOutput_ = 1; |
| aberk | 0:6e12a3e5af19 | 72 | } else if (prevControllerOutput_ < 0) { |
| aberk | 0:6e12a3e5af19 | 73 | prevControllerOutput_ = 0; |
| aberk | 0:6e12a3e5af19 | 74 | } |
| aberk | 0:6e12a3e5af19 | 75 | |
| aberk | 0:6e12a3e5af19 | 76 | outMin_ = outMin; |
| aberk | 0:6e12a3e5af19 | 77 | outMax_ = outMax; |
| aberk | 0:6e12a3e5af19 | 78 | outSpan_ = outMax - outMin; |
| aberk | 0:6e12a3e5af19 | 79 | |
| aberk | 0:6e12a3e5af19 | 80 | } |
| aberk | 0:6e12a3e5af19 | 81 | |
| HangL | 2:0fff4827f3b6 | 82 | //void PID::setTunings(float Kc, float tauI, float tauD) { |
| HangL | 2:0fff4827f3b6 | 83 | void PID::setStandTunings(float Kc,float tauI,float tauD){ |
| aberk | 0:6e12a3e5af19 | 84 | //Verify that the tunings make sense. |
| aberk | 0:6e12a3e5af19 | 85 | if (Kc == 0.0 || tauI < 0.0 || tauD < 0.0) { |
| aberk | 0:6e12a3e5af19 | 86 | return; |
| aberk | 0:6e12a3e5af19 | 87 | } |
| aberk | 0:6e12a3e5af19 | 88 | |
| aberk | 0:6e12a3e5af19 | 89 | //Store raw values to hand back to user on request. |
| aberk | 0:6e12a3e5af19 | 90 | pParam_ = Kc; |
| aberk | 0:6e12a3e5af19 | 91 | iParam_ = tauI; |
| aberk | 0:6e12a3e5af19 | 92 | dParam_ = tauD; |
| aberk | 0:6e12a3e5af19 | 93 | |
| aberk | 0:6e12a3e5af19 | 94 | float tempTauR; |
| aberk | 0:6e12a3e5af19 | 95 | |
| aberk | 0:6e12a3e5af19 | 96 | if (tauI == 0.0) { |
| aberk | 0:6e12a3e5af19 | 97 | tempTauR = 0.0; |
| aberk | 0:6e12a3e5af19 | 98 | } else { |
| aberk | 0:6e12a3e5af19 | 99 | tempTauR = (1.0 / tauI) * tSample_; |
| aberk | 0:6e12a3e5af19 | 100 | } |
| aberk | 0:6e12a3e5af19 | 101 | |
| aberk | 0:6e12a3e5af19 | 102 | //For "bumpless transfer" we need to rescale the accumulated error. |
| aberk | 0:6e12a3e5af19 | 103 | if (inAuto) { |
| aberk | 0:6e12a3e5af19 | 104 | if (tempTauR == 0.0) { |
| aberk | 0:6e12a3e5af19 | 105 | accError_ = 0.0; |
| aberk | 0:6e12a3e5af19 | 106 | } else { |
| aberk | 0:6e12a3e5af19 | 107 | accError_ *= (Kc_ * tauR_) / (Kc * tempTauR); |
| aberk | 0:6e12a3e5af19 | 108 | } |
| aberk | 0:6e12a3e5af19 | 109 | } |
| aberk | 0:6e12a3e5af19 | 110 | |
| aberk | 0:6e12a3e5af19 | 111 | Kc_ = Kc; |
| aberk | 0:6e12a3e5af19 | 112 | tauR_ = tempTauR; |
| aberk | 0:6e12a3e5af19 | 113 | tauD_ = tauD / tSample_; |
| aberk | 0:6e12a3e5af19 | 114 | |
| aberk | 0:6e12a3e5af19 | 115 | } |
| HangL | 2:0fff4827f3b6 | 116 | //setSpeedTunings(SpeedKc,SpeedtauI,SpeedtauD) |
| HangL | 2:0fff4827f3b6 | 117 | /*void setSpeedTunings(float Kc,float tauI,float tauD) |
| HangL | 2:0fff4827f3b6 | 118 | { |
| aberk | 0:6e12a3e5af19 | 119 | |
| HangL | 2:0fff4827f3b6 | 120 | Speed_Kc_ = Kc; |
| HangL | 2:0fff4827f3b6 | 121 | //Speed_tauI_ = tauI; |
| HangL | 2:0fff4827f3b6 | 122 | |
| HangL | 2:0fff4827f3b6 | 123 | } |
| HangL | 2:0fff4827f3b6 | 124 | */ |
| aberk | 0:6e12a3e5af19 | 125 | void PID::reset(void) { |
| aberk | 0:6e12a3e5af19 | 126 | |
| aberk | 0:6e12a3e5af19 | 127 | float scaledBias = 0.0; |
| aberk | 0:6e12a3e5af19 | 128 | |
| aberk | 0:6e12a3e5af19 | 129 | if (usingFeedForward) { |
| aberk | 0:6e12a3e5af19 | 130 | scaledBias = (bias_ - outMin_) / outSpan_; |
| aberk | 0:6e12a3e5af19 | 131 | } else { |
| aberk | 0:6e12a3e5af19 | 132 | scaledBias = (realOutput_ - outMin_) / outSpan_; |
| aberk | 0:6e12a3e5af19 | 133 | } |
| aberk | 0:6e12a3e5af19 | 134 | |
| aberk | 0:6e12a3e5af19 | 135 | prevControllerOutput_ = scaledBias; |
| aberk | 0:6e12a3e5af19 | 136 | prevProcessVariable_ = (processVariable_ - inMin_) / inSpan_; |
| aberk | 0:6e12a3e5af19 | 137 | |
| aberk | 0:6e12a3e5af19 | 138 | //Clear any error in the integral. |
| aberk | 0:6e12a3e5af19 | 139 | accError_ = 0; |
| aberk | 0:6e12a3e5af19 | 140 | |
| aberk | 0:6e12a3e5af19 | 141 | } |
| aberk | 0:6e12a3e5af19 | 142 | |
| aberk | 0:6e12a3e5af19 | 143 | void PID::setMode(int mode) { |
| aberk | 0:6e12a3e5af19 | 144 | |
| aberk | 0:6e12a3e5af19 | 145 | //We were in manual, and we just got set to auto. |
| aberk | 0:6e12a3e5af19 | 146 | //Reset the controller internals. |
| aberk | 0:6e12a3e5af19 | 147 | if (mode != 0 && !inAuto) { |
| aberk | 0:6e12a3e5af19 | 148 | reset(); |
| aberk | 0:6e12a3e5af19 | 149 | } |
| aberk | 0:6e12a3e5af19 | 150 | |
| aberk | 0:6e12a3e5af19 | 151 | inAuto = (mode != 0); |
| aberk | 0:6e12a3e5af19 | 152 | |
| aberk | 0:6e12a3e5af19 | 153 | } |
| aberk | 0:6e12a3e5af19 | 154 | |
| aberk | 0:6e12a3e5af19 | 155 | void PID::setInterval(float interval) { |
| aberk | 0:6e12a3e5af19 | 156 | |
| aberk | 0:6e12a3e5af19 | 157 | if (interval > 0) { |
| aberk | 0:6e12a3e5af19 | 158 | //Convert the time-based tunings to reflect this change. |
| aberk | 0:6e12a3e5af19 | 159 | tauR_ *= (interval / tSample_); |
| aberk | 0:6e12a3e5af19 | 160 | accError_ *= (tSample_ / interval); |
| aberk | 0:6e12a3e5af19 | 161 | tauD_ *= (interval / tSample_); |
| aberk | 0:6e12a3e5af19 | 162 | tSample_ = interval; |
| aberk | 0:6e12a3e5af19 | 163 | } |
| aberk | 0:6e12a3e5af19 | 164 | |
| aberk | 0:6e12a3e5af19 | 165 | } |
| aberk | 0:6e12a3e5af19 | 166 | |
| aberk | 0:6e12a3e5af19 | 167 | void PID::setSetPoint(float sp) { |
| aberk | 0:6e12a3e5af19 | 168 | |
| aberk | 0:6e12a3e5af19 | 169 | setPoint_ = sp; |
| aberk | 0:6e12a3e5af19 | 170 | |
| aberk | 0:6e12a3e5af19 | 171 | } |
| aberk | 0:6e12a3e5af19 | 172 | |
| aberk | 0:6e12a3e5af19 | 173 | void PID::setProcessValue(float pv) { |
| aberk | 0:6e12a3e5af19 | 174 | |
| aberk | 0:6e12a3e5af19 | 175 | processVariable_ = pv; |
| aberk | 0:6e12a3e5af19 | 176 | |
| aberk | 0:6e12a3e5af19 | 177 | } |
| aberk | 0:6e12a3e5af19 | 178 | |
| aberk | 0:6e12a3e5af19 | 179 | void PID::setBias(float bias){ |
| aberk | 0:6e12a3e5af19 | 180 | |
| aberk | 0:6e12a3e5af19 | 181 | bias_ = bias; |
| aberk | 0:6e12a3e5af19 | 182 | usingFeedForward = 1; |
| aberk | 0:6e12a3e5af19 | 183 | |
| aberk | 0:6e12a3e5af19 | 184 | } |
| aberk | 0:6e12a3e5af19 | 185 | |
| aberk | 0:6e12a3e5af19 | 186 | float PID::compute() { |
| aberk | 0:6e12a3e5af19 | 187 | |
| aberk | 0:6e12a3e5af19 | 188 | //Pull in the input and setpoint, and scale them into percent span. |
| aberk | 0:6e12a3e5af19 | 189 | float scaledPV = (processVariable_ - inMin_) / inSpan_; |
| aberk | 0:6e12a3e5af19 | 190 | |
| aberk | 0:6e12a3e5af19 | 191 | if (scaledPV > 1.0) { |
| aberk | 0:6e12a3e5af19 | 192 | scaledPV = 1.0; |
| aberk | 0:6e12a3e5af19 | 193 | } else if (scaledPV < 0.0) { |
| aberk | 0:6e12a3e5af19 | 194 | scaledPV = 0.0; |
| aberk | 0:6e12a3e5af19 | 195 | } |
| aberk | 0:6e12a3e5af19 | 196 | |
| aberk | 0:6e12a3e5af19 | 197 | float scaledSP = (setPoint_ - inMin_) / inSpan_; |
| aberk | 0:6e12a3e5af19 | 198 | if (scaledSP > 1.0) { |
| aberk | 0:6e12a3e5af19 | 199 | scaledSP = 1; |
| aberk | 0:6e12a3e5af19 | 200 | } else if (scaledSP < 0.0) { |
| aberk | 0:6e12a3e5af19 | 201 | scaledSP = 0; |
| aberk | 0:6e12a3e5af19 | 202 | } |
| aberk | 0:6e12a3e5af19 | 203 | |
| aberk | 0:6e12a3e5af19 | 204 | float error = scaledSP - scaledPV; |
| aberk | 0:6e12a3e5af19 | 205 | |
| aberk | 0:6e12a3e5af19 | 206 | //Check and see if the output is pegged at a limit and only |
| aberk | 0:6e12a3e5af19 | 207 | //integrate if it is not. This is to prevent reset-windup. |
| aberk | 0:6e12a3e5af19 | 208 | if (!(prevControllerOutput_ >= 1 && error > 0) && !(prevControllerOutput_ <= 0 && error < 0)) { |
| aberk | 0:6e12a3e5af19 | 209 | accError_ += error; |
| aberk | 0:6e12a3e5af19 | 210 | } |
| aberk | 0:6e12a3e5af19 | 211 | |
| aberk | 0:6e12a3e5af19 | 212 | //Compute the current slope of the input signal. |
| aberk | 0:6e12a3e5af19 | 213 | float dMeas = (scaledPV - prevProcessVariable_) / tSample_; |
| aberk | 0:6e12a3e5af19 | 214 | |
| aberk | 0:6e12a3e5af19 | 215 | float scaledBias = 0.0; |
| aberk | 0:6e12a3e5af19 | 216 | |
| aberk | 0:6e12a3e5af19 | 217 | if (usingFeedForward) { |
| aberk | 0:6e12a3e5af19 | 218 | scaledBias = (bias_ - outMin_) / outSpan_; |
| aberk | 0:6e12a3e5af19 | 219 | } |
| aberk | 0:6e12a3e5af19 | 220 | |
| aberk | 0:6e12a3e5af19 | 221 | //Perform the PID calculation. |
| aberk | 0:6e12a3e5af19 | 222 | controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas)); |
| aberk | 0:6e12a3e5af19 | 223 | |
| aberk | 0:6e12a3e5af19 | 224 | //Make sure the computed output is within output constraints. |
| aberk | 0:6e12a3e5af19 | 225 | if (controllerOutput_ < 0.0) { |
| HangL | 2:0fff4827f3b6 | 226 | controllerOutput_ = 0.0; |
| aberk | 0:6e12a3e5af19 | 227 | } else if (controllerOutput_ > 1.0) { |
| aberk | 0:6e12a3e5af19 | 228 | controllerOutput_ = 1.0; |
| aberk | 0:6e12a3e5af19 | 229 | } |
| aberk | 0:6e12a3e5af19 | 230 | |
| aberk | 0:6e12a3e5af19 | 231 | //Remember this output for the windup check next time. |
| aberk | 0:6e12a3e5af19 | 232 | prevControllerOutput_ = controllerOutput_; |
| aberk | 0:6e12a3e5af19 | 233 | //Remember the input for the derivative calculation next time. |
| aberk | 0:6e12a3e5af19 | 234 | prevProcessVariable_ = scaledPV; |
| aberk | 0:6e12a3e5af19 | 235 | |
| aberk | 0:6e12a3e5af19 | 236 | //Scale the output from percent span back out to a real world number. |
| aberk | 0:6e12a3e5af19 | 237 | return ((controllerOutput_ * outSpan_) + outMin_); |
| aberk | 0:6e12a3e5af19 | 238 | |
| aberk | 0:6e12a3e5af19 | 239 | } |
| HangL | 2:0fff4827f3b6 | 240 | float PID::Speedcompute(double Stepper,double Target) |
| HangL | 2:0fff4827f3b6 | 241 | { |
| HangL | 3:7f0ed54318df | 242 | static double Bias,PWM,/*Last_bias,*/Integral_bias; |
| HangL | 3:7f0ed54318df | 243 | Stepper=Stepper/10; |
| HangL | 2:0fff4827f3b6 | 244 | Bias=Stepper-Target; |
| HangL | 3:7f0ed54318df | 245 | ///////////////////////////////////// |
| HangL | 3:7f0ed54318df | 246 | Stepper*=0.7; |
| HangL | 3:7f0ed54318df | 247 | Stepper+=Bias*0.3; |
| HangL | 3:7f0ed54318df | 248 | Integral_bias+=Stepper; |
| HangL | 3:7f0ed54318df | 249 | // Integral_bias+=Bias; |
| HangL | 3:7f0ed54318df | 250 | // PWM+=Speed_Kc*(Bias-Last_bias)+Speed_tauI*Bias; |
| HangL | 3:7f0ed54318df | 251 | PWM=Stepper*Speed_Kc+Integral_bias*Speed_tauI; |
| HangL | 3:7f0ed54318df | 252 | // Last_bias=Bias; |
| HangL | 2:0fff4827f3b6 | 253 | return PWM; |
| HangL | 2:0fff4827f3b6 | 254 | } |
| HangL | 3:7f0ed54318df | 255 | |
| aberk | 0:6e12a3e5af19 | 256 | float PID::getInMin() { |
| aberk | 0:6e12a3e5af19 | 257 | |
| aberk | 0:6e12a3e5af19 | 258 | return inMin_; |
| aberk | 0:6e12a3e5af19 | 259 | |
| aberk | 0:6e12a3e5af19 | 260 | } |
| aberk | 0:6e12a3e5af19 | 261 | |
| aberk | 0:6e12a3e5af19 | 262 | float PID::getInMax() { |
| aberk | 0:6e12a3e5af19 | 263 | |
| aberk | 0:6e12a3e5af19 | 264 | return inMax_; |
| aberk | 0:6e12a3e5af19 | 265 | |
| aberk | 0:6e12a3e5af19 | 266 | } |
| aberk | 0:6e12a3e5af19 | 267 | |
| aberk | 0:6e12a3e5af19 | 268 | float PID::getOutMin() { |
| aberk | 0:6e12a3e5af19 | 269 | |
| aberk | 0:6e12a3e5af19 | 270 | return outMin_; |
| aberk | 0:6e12a3e5af19 | 271 | |
| aberk | 0:6e12a3e5af19 | 272 | } |
| aberk | 0:6e12a3e5af19 | 273 | |
| aberk | 0:6e12a3e5af19 | 274 | float PID::getOutMax() { |
| aberk | 0:6e12a3e5af19 | 275 | |
| aberk | 0:6e12a3e5af19 | 276 | return outMax_; |
| aberk | 0:6e12a3e5af19 | 277 | |
| aberk | 0:6e12a3e5af19 | 278 | } |
| aberk | 0:6e12a3e5af19 | 279 | |
| aberk | 0:6e12a3e5af19 | 280 | float PID::getInterval() { |
| aberk | 0:6e12a3e5af19 | 281 | |
| aberk | 0:6e12a3e5af19 | 282 | return tSample_; |
| aberk | 0:6e12a3e5af19 | 283 | |
| aberk | 0:6e12a3e5af19 | 284 | } |
| aberk | 0:6e12a3e5af19 | 285 | |
| aberk | 0:6e12a3e5af19 | 286 | float PID::getPParam() { |
| aberk | 0:6e12a3e5af19 | 287 | |
| aberk | 0:6e12a3e5af19 | 288 | return pParam_; |
| aberk | 0:6e12a3e5af19 | 289 | |
| aberk | 0:6e12a3e5af19 | 290 | } |
| aberk | 0:6e12a3e5af19 | 291 | |
| aberk | 0:6e12a3e5af19 | 292 | float PID::getIParam() { |
| aberk | 0:6e12a3e5af19 | 293 | |
| aberk | 0:6e12a3e5af19 | 294 | return iParam_; |
| aberk | 0:6e12a3e5af19 | 295 | |
| aberk | 0:6e12a3e5af19 | 296 | } |
| aberk | 0:6e12a3e5af19 | 297 | |
| aberk | 0:6e12a3e5af19 | 298 | float PID::getDParam() { |
| aberk | 0:6e12a3e5af19 | 299 | |
| aberk | 0:6e12a3e5af19 | 300 | return dParam_; |
| aberk | 0:6e12a3e5af19 | 301 | |
| aberk | 0:6e12a3e5af19 | 302 | } |