Diff: PID.cpp

Revision:

1:0ffb635770b3

Parent:

0:6e12a3e5af19

Child:

2:0fff4827f3b6

--- a/PID.cpp	Thu Sep 02 16:48:10 2010 +0000
+++ b/PID.cpp	Thu Nov 03 17:15:10 2016 +0000
@@ -1,52 +1,3 @@
-/**
- * @author Aaron Berk
- *
- * @section LICENSE
- *
- * Copyright (c) 2010 ARM Limited
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- * @section DESCRIPTION
- * 
- * A PID controller is a widely used feedback controller commonly found in
- * industry.
- *
- * This library is a port of Brett Beauregard's Arduino PID library:
- *
- *  http://www.arduino.cc/playground/Code/PIDLibrary
- *
- * The wikipedia article on PID controllers is a good place to start on
- * understanding how they work:
- *
- *  http://en.wikipedia.org/wiki/PID_controller
- *
- * For a clear and elegant explanation of how to implement and tune a
- * controller, the controlguru website by Douglas J. Cooper (who also happened
- * to be Brett's controls professor) is an excellent reference:
- *
- *  http://www.controlguru.com/
- */
-
-/**
- * Includes
- */
 #include "PID.h"
 
 PID::PID(float Kc, float tauI, float tauD, float interval) {
@@ -54,11 +5,8 @@
     usingFeedForward = false;
     inAuto           = false;
 
-    //Default the limits to the full range of I/O: 3.3V
-    //Make sure to set these to more appropriate limits for
-    //your application.
-    setInputLimits(0.0, 3.3);
-    setOutputLimits(0.0, 3.3);
+    setInputLimits(-90.0,90.0 );
+    setOutputLimits(-3500.0, 3500.0);
 
     tSample_ = interval;
 
@@ -74,7 +22,6 @@
     bias_     = 0.0;
     
     realOutput_ = 0.0;
-
 }
 
 void PID::setInputLimits(float inMin, float inMax) {