Bryce Williams / PID Featured

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
--- 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(){