Calvin Kalintra / pid

PID

Dependents:   balance_all

PID.cpp

Committer:
ckalintra
Date:
2018-05-16
Revision:
0:3d03a93d9671

File content as of revision 0:3d03a93d9671:

#include "PID.h"
#define Kp 0.1
#define Ki 0.00001

void PID::control(float x, float *output, float time, float integral)
{
    float error = - x;
    float Pout = Kp * error;//multiply the error with kp to get P output

    integral += error * time;//integral adds the previous error + the error now * time the error presist
    
    float Iout = Ki * integral;//multiply by Ki
    output[0] = Pout + Iout;
    if( output[0] > 1 )//limit the output
        {output[0] = 1;}
    else if( output[0] < -1 )
        {output[0] = -1;}
}