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PID.cpp
- Committer:
- sink
- Date:
- 2019-07-23
- Revision:
- 1:09b63bc8f46a
- Parent:
- 0:88340ec1ec48
- Child:
- 2:9dd174ee5ffc
File content as of revision 1:09b63bc8f46a:
#include "PID.h"
PID::PID(double INT_TIME){
_time = INT_TIME;
reset();
}
void PID::set(double P, double I, double D){
_p = P;
_i = I;
_d = D;
}
double PID::con (double _error){
static double _pre_err = 0.0;
double _result = 0;
_result += _error * _p;
_integ += (_error + _pre_err) / 2.0 * _time;
_result += _integ * _i;
_result += (_error - _pre_err) / _time * _d;
_pre_err = _error;
return _result;
}
void PID::reset(){
_p = 0.0;
_i = 0.0;
_d = 0.0;
_integ = 0.0;
}