Basic but robust PID library
Dependents: ESP8266_pid_mtrPos_webserver_SDcard_v2 ESP8266_pid_mtrSpeed_Webserver_SDcard ESP8266_pid_spd_and_pos_webserver_SDcard ESP8266_pid_redbot_webserver ... more
Diff: PID.cpp
- Revision:
- 4:4ed1f5bccac8
- Parent:
- 3:6c2c985408df
diff -r 6c2c985408df -r 4ed1f5bccac8 PID.cpp --- a/PID.cpp Tue Nov 24 02:28:24 2015 +0000 +++ b/PID.cpp Tue Nov 24 22:52:45 2015 +0000 @@ -93,11 +93,17 @@ } float PID::getKi(){ - return _ki; + return _ki/_Ts; // Remove Sample time adjustment so that + // actual set ki is returned... + // Remember Sample time is rolled into + // ki inside this class } float PID::getKd(){ - return _kd; + return _kd*_Ts; // Remove Sample time adjustment so that + // actual set kd is returned... + // Remember Sample time is rolled into + // kd inside this class } float PID::getTs(){