File content as of revision 0:7ab090cd6520:

#include "Pid_control.h"

Pid_control::Pid_control()
{
  
    derivate =0;
    sum=0.0;
    delta_t= 0.1;
    actual_value_old=0;
}

Pid_control::~Pid_control()
{

  
}


float Pid_control::control( int actual_value, int target_value, float p, float i,float d,  float min_control_out,  float max_control_out  )
{
 


    error = target_value - actual_value;

    // I Anteil

    sum = ((float) error) + sum;

    // D Anteil

    derivate = ((float)(actual_value - actual_value_old))/(delta_t);

    // PID Control

    control_out= p * ((float) error) +  i*sum - d*derivate;



    if(control_out > max_control_out )
    {
        if(i > 0)
        {
        sum = sum - (control_out - max_control_out)/i;
        }
        control_out =  max_control_out;

    }
    else if (control_out < min_control_out )
    {
        control_out = min_control_out;

    }



    actual_value_old = actual_value;

    return control_out;

}