ported pid library from imu
Dependents: wheelchaircontrol wheelchaircontrolRos
Diff: PID_v1.h
- Revision:
- 1:45383b49536c
- Parent:
- 0:539e3b3b91e1
diff -r 539e3b3b91e1 -r 45383b49536c PID_v1.h --- a/PID_v1.h Thu Aug 09 16:36:32 2018 +0000 +++ b/PID_v1.h Fri Aug 17 20:46:39 2018 +0000 @@ -22,9 +22,6 @@ PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here. // (overload for specifying proportional mode) - - PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and - double, double, double, int); // Setpoint. Initial tuning parameters are also set here void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0) @@ -53,10 +50,7 @@ void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which // the PID calculation is performed. default is 100 - - double *myInput; // * Pointers to the Input, Output, and Setpoint variables - double *myOutput; // This creates a hard link between the variables and the - double *mySetpoint; + //Display functions **************************************************************** double GetKp(); // These functions query the pid for interal values. @@ -79,9 +73,9 @@ int controllerDirection; int pOn; - // double *myInput; // * Pointers to the Input, Output, and Setpoint variables - // double *myOutput; // This creates a hard link between the variables and the - // double *mySetpoint; // PID, freeing the user from having to constantly tell us + double *myInput; // * Pointers to the Input, Output, and Setpoint variables + double *myOutput; // This creates a hard link between the variables and the + double *mySetpoint; // PID, freeing the user from having to constantly tell us // what these values are. with pointers we'll just know. unsigned long lastTime;