Revision 8:a020a225bc65, committed 2013-12-31

Comitter:

oprospero

Date:

Tue Dec 31 05:28:01 2013 +0000

Parent:

7:1b1c2ded95f5

Child:

9:244f8204d1fa

Commit message:

Added methods to change P and D values

Changed in this revision

--- a/PID.cpp	Sat Dec 21 08:27:42 2013 +0000
+++ b/PID.cpp	Tue Dec 31 05:28:01 2013 +0000
@@ -27,7 +27,7 @@
     proportionalControl = integralControl = derivativeControl = 0;
 }
 
-float PID::correct(const float currentError, const float pGain)
+float PID::correct(const float currentError)
 {
 //    float currentError = 0;
 //    float proportionalControl, integralControl, derivativeControl;
@@ -35,7 +35,6 @@
     // How far away we are from the target
 //    currentError = targetPosition - currentPosition;
 
-    proportionalGain = pGain;
     // Sum of the errors the controller has incurred over time
     integralError += currentError;
     // Cap the sum of errors to prevent excessive correction
@@ -57,3 +56,13 @@
     return proportionalControl + integralControl + derivativeControl;
 
 }
+
+void PID::updateP(const float pGain)
+{
+    proportionalGain = pGain;
+}
+
+void PID::updateD(const float dGain)
+{
+    derivativeGain = dGain;
+}
\ No newline at end of file

--- a/PID.h	Sat Dec 21 08:27:42 2013 +0000
+++ b/PID.h	Tue Dec 31 05:28:01 2013 +0000
@@ -43,12 +43,15 @@
      *               eg. PID can be switched off for manual control)
      * @return Adjustment to apply to the motors.
      */
-    float correct(const float, const float);
+    float correct(const float);
+    
+    void updateP(const float);
+    void updateD(const float);
 
 private:
     float proportionalGain;
     const float integralGain;
-    const float derivativeGain;
+    float derivativeGain;
     const float windupGainGuard;
     const int dt;
     float proportionalControl, integralControl, derivativeControl;