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

Files at this revision

API Documentation at this revision

Revision 1:c307cd559154, committed 2015-11-24

Comitter:
electromotivated
Date:
Tue Nov 24 00:15:01 2015 +0000
Parent:
0:9a6f7aafe531
Child:
2:07397aa513c6
Commit message:
Added methods to return currently set params;

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/PID.cpp	Mon Nov 23 02:42:53 2015 +0000
+++ b/PID.cpp	Tue Nov 24 00:15:01 2015 +0000
@@ -27,7 +27,6 @@
     i_accumulator = clip(*_output, _output_lower,
                      _output_upper);    // P and D terms are zero, thus 
                                         // i term is used to keep output unchanged
-    
     sample_timer.attach(this, &PID::sample, _Ts);
 }
 
@@ -48,6 +47,22 @@
     start();        // Enable Sample Interrupt... start()
 }
 
+float PID::getKp(){
+    return _kp;
+}
+
+float PID::getKi(){
+    return _ki;
+}
+
+float PID::getKd(){
+    return _kd;
+}
+
+float PID::getTs(){
+    return _Ts;
+}
+
 void PID::sample(){
     error = *_setpoint - *_feedback;