Bryce Williams
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
Revision 4:4ed1f5bccac8, committed 2015-11-24
- Comitter:
- electromotivated
- Date:
- Tue Nov 24 22:52:45 2015 +0000
- Parent:
- 3:6c2c985408df
- Child:
- 5:0cf2f6d13c71
- Commit message:
- Fixed bug in getKi() and getKd() methods. They were returning the Sample time adjusted gains used by the class. Now returns the pure gains as set by user. ;
Changed in this revision
| PID.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- 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(){