This is a copy of the Reference Standard PID controller ala controlguru.com
Fork of PID by
PID.cpp@1:117e0c36eb22, 2016-01-25 (annotated)
- Committer:
- unix_guru
- Date:
- Mon Jan 25 22:29:38 2016 +0000
- Revision:
- 1:117e0c36eb22
- Parent:
- 0:d58c1b8d63d9
- Child:
- 2:55bf0f813bb4
Old Standard PID library from ControlGuru.com
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
arnaudsuire | 0:d58c1b8d63d9 | 1 | /** |
arnaudsuire | 0:d58c1b8d63d9 | 2 | * Includes |
arnaudsuire | 0:d58c1b8d63d9 | 3 | */ |
arnaudsuire | 0:d58c1b8d63d9 | 4 | #include "PID.h" |
arnaudsuire | 0:d58c1b8d63d9 | 5 | |
arnaudsuire | 0:d58c1b8d63d9 | 6 | PID::PID(float Kc, float tauI, float tauD, float interval) { |
arnaudsuire | 0:d58c1b8d63d9 | 7 | |
arnaudsuire | 0:d58c1b8d63d9 | 8 | usingFeedForward = false; |
unix_guru | 1:117e0c36eb22 | 9 | inAuto = false; |
arnaudsuire | 0:d58c1b8d63d9 | 10 | |
arnaudsuire | 0:d58c1b8d63d9 | 11 | //Default the limits to the full range of I/O. |
arnaudsuire | 0:d58c1b8d63d9 | 12 | //Make sure to set these to more appropriate limits for your application. |
arnaudsuire | 0:d58c1b8d63d9 | 13 | setInputLimits(0.0, 100.0); |
arnaudsuire | 0:d58c1b8d63d9 | 14 | setOutputLimits(0.0,100.0); |
arnaudsuire | 0:d58c1b8d63d9 | 15 | |
arnaudsuire | 0:d58c1b8d63d9 | 16 | tSample_ = interval; |
arnaudsuire | 0:d58c1b8d63d9 | 17 | |
arnaudsuire | 0:d58c1b8d63d9 | 18 | setTunings(Kc, tauI, tauD); |
arnaudsuire | 0:d58c1b8d63d9 | 19 | |
arnaudsuire | 0:d58c1b8d63d9 | 20 | setPoint_ = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 21 | processVariable_ = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 22 | prevProcessVariable_ = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 23 | controllerOutput_ = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 24 | prevControllerOutput_ = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 25 | |
arnaudsuire | 0:d58c1b8d63d9 | 26 | accError_ = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 27 | bias_ = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 28 | |
arnaudsuire | 0:d58c1b8d63d9 | 29 | realOutput_ = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 30 | |
arnaudsuire | 0:d58c1b8d63d9 | 31 | } |
arnaudsuire | 0:d58c1b8d63d9 | 32 | |
arnaudsuire | 0:d58c1b8d63d9 | 33 | void PID::setInputLimits(float inMin, float inMax) { |
arnaudsuire | 0:d58c1b8d63d9 | 34 | |
arnaudsuire | 0:d58c1b8d63d9 | 35 | //Make sure we haven't been given impossible values. |
arnaudsuire | 0:d58c1b8d63d9 | 36 | if (inMin >= inMax) { |
arnaudsuire | 0:d58c1b8d63d9 | 37 | return; |
arnaudsuire | 0:d58c1b8d63d9 | 38 | } |
arnaudsuire | 0:d58c1b8d63d9 | 39 | |
arnaudsuire | 0:d58c1b8d63d9 | 40 | //Rescale the working variables to reflect the changes. |
arnaudsuire | 0:d58c1b8d63d9 | 41 | prevProcessVariable_ *= (inMax - inMin) / inSpan_; |
arnaudsuire | 0:d58c1b8d63d9 | 42 | accError_ *= (inMax - inMin) / inSpan_; |
arnaudsuire | 0:d58c1b8d63d9 | 43 | |
arnaudsuire | 0:d58c1b8d63d9 | 44 | //Make sure the working variables are within the new limits. |
arnaudsuire | 0:d58c1b8d63d9 | 45 | if (prevProcessVariable_ > 1) { |
arnaudsuire | 0:d58c1b8d63d9 | 46 | prevProcessVariable_ = 1; |
arnaudsuire | 0:d58c1b8d63d9 | 47 | } |
arnaudsuire | 0:d58c1b8d63d9 | 48 | else if (prevProcessVariable_ < 0) { |
arnaudsuire | 0:d58c1b8d63d9 | 49 | prevProcessVariable_ = 0; |
arnaudsuire | 0:d58c1b8d63d9 | 50 | } |
arnaudsuire | 0:d58c1b8d63d9 | 51 | |
arnaudsuire | 0:d58c1b8d63d9 | 52 | inMin_ = inMin; |
arnaudsuire | 0:d58c1b8d63d9 | 53 | inMax_ = inMax; |
arnaudsuire | 0:d58c1b8d63d9 | 54 | inSpan_ = inMax - inMin; |
arnaudsuire | 0:d58c1b8d63d9 | 55 | |
arnaudsuire | 0:d58c1b8d63d9 | 56 | } |
arnaudsuire | 0:d58c1b8d63d9 | 57 | |
arnaudsuire | 0:d58c1b8d63d9 | 58 | void PID::setOutputLimits(float outMin, float outMax) { |
arnaudsuire | 0:d58c1b8d63d9 | 59 | |
arnaudsuire | 0:d58c1b8d63d9 | 60 | //Make sure we haven't been given impossible values. |
arnaudsuire | 0:d58c1b8d63d9 | 61 | if (outMin >= outMax) { |
arnaudsuire | 0:d58c1b8d63d9 | 62 | return; |
arnaudsuire | 0:d58c1b8d63d9 | 63 | } |
arnaudsuire | 0:d58c1b8d63d9 | 64 | |
arnaudsuire | 0:d58c1b8d63d9 | 65 | //Rescale the working variables to reflect the changes. |
arnaudsuire | 0:d58c1b8d63d9 | 66 | prevControllerOutput_ *= (outMax - outMin) / outSpan_; |
arnaudsuire | 0:d58c1b8d63d9 | 67 | |
arnaudsuire | 0:d58c1b8d63d9 | 68 | //Make sure the working variables are within the new limits. |
arnaudsuire | 0:d58c1b8d63d9 | 69 | if (prevControllerOutput_ > 1) { |
arnaudsuire | 0:d58c1b8d63d9 | 70 | prevControllerOutput_ = 1; |
arnaudsuire | 0:d58c1b8d63d9 | 71 | } |
arnaudsuire | 0:d58c1b8d63d9 | 72 | else if (prevControllerOutput_ < 0) { |
arnaudsuire | 0:d58c1b8d63d9 | 73 | prevControllerOutput_ = 0; |
arnaudsuire | 0:d58c1b8d63d9 | 74 | } |
arnaudsuire | 0:d58c1b8d63d9 | 75 | |
arnaudsuire | 0:d58c1b8d63d9 | 76 | outMin_ = outMin; |
arnaudsuire | 0:d58c1b8d63d9 | 77 | outMax_ = outMax; |
arnaudsuire | 0:d58c1b8d63d9 | 78 | outSpan_ = outMax - outMin; |
arnaudsuire | 0:d58c1b8d63d9 | 79 | |
arnaudsuire | 0:d58c1b8d63d9 | 80 | } |
arnaudsuire | 0:d58c1b8d63d9 | 81 | |
arnaudsuire | 0:d58c1b8d63d9 | 82 | void PID::setTunings(float Kc, float tauI, float tauD) { |
arnaudsuire | 0:d58c1b8d63d9 | 83 | |
arnaudsuire | 0:d58c1b8d63d9 | 84 | //Verify that the tunings make sense. |
arnaudsuire | 0:d58c1b8d63d9 | 85 | if (Kc == 0.0 || tauI < 0.0 || tauD < 0.0) { |
arnaudsuire | 0:d58c1b8d63d9 | 86 | return; |
arnaudsuire | 0:d58c1b8d63d9 | 87 | } |
arnaudsuire | 0:d58c1b8d63d9 | 88 | |
arnaudsuire | 0:d58c1b8d63d9 | 89 | //Store raw values to hand back to user on request. |
arnaudsuire | 0:d58c1b8d63d9 | 90 | pParam_ = Kc; |
arnaudsuire | 0:d58c1b8d63d9 | 91 | iParam_ = tauI; |
arnaudsuire | 0:d58c1b8d63d9 | 92 | dParam_ = tauD; |
arnaudsuire | 0:d58c1b8d63d9 | 93 | |
arnaudsuire | 0:d58c1b8d63d9 | 94 | float tempTauR; |
arnaudsuire | 0:d58c1b8d63d9 | 95 | |
arnaudsuire | 0:d58c1b8d63d9 | 96 | if (tauI == 0.0) { |
arnaudsuire | 0:d58c1b8d63d9 | 97 | tempTauR = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 98 | } |
arnaudsuire | 0:d58c1b8d63d9 | 99 | else { |
arnaudsuire | 0:d58c1b8d63d9 | 100 | tempTauR = (1.0 / tauI) * tSample_; |
arnaudsuire | 0:d58c1b8d63d9 | 101 | } |
arnaudsuire | 0:d58c1b8d63d9 | 102 | |
arnaudsuire | 0:d58c1b8d63d9 | 103 | //For "bumpless transfer" we need to rescale the accumulated error. |
arnaudsuire | 0:d58c1b8d63d9 | 104 | //if (inAuto) { |
arnaudsuire | 0:d58c1b8d63d9 | 105 | //if (tempTauR == 0.0) { |
arnaudsuire | 0:d58c1b8d63d9 | 106 | //accError_ = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 107 | //} |
arnaudsuire | 0:d58c1b8d63d9 | 108 | //else { |
arnaudsuire | 0:d58c1b8d63d9 | 109 | accError_ *= (Kc_ * tauR_) / (Kc * tempTauR); |
arnaudsuire | 0:d58c1b8d63d9 | 110 | //} |
arnaudsuire | 0:d58c1b8d63d9 | 111 | //} |
arnaudsuire | 0:d58c1b8d63d9 | 112 | |
arnaudsuire | 0:d58c1b8d63d9 | 113 | Kc_ = Kc; |
arnaudsuire | 0:d58c1b8d63d9 | 114 | tauR_ = tempTauR; |
arnaudsuire | 0:d58c1b8d63d9 | 115 | tauD_ = tauD / tSample_; |
arnaudsuire | 0:d58c1b8d63d9 | 116 | |
arnaudsuire | 0:d58c1b8d63d9 | 117 | } |
arnaudsuire | 0:d58c1b8d63d9 | 118 | |
arnaudsuire | 0:d58c1b8d63d9 | 119 | void PID::reset(void) { |
arnaudsuire | 0:d58c1b8d63d9 | 120 | |
arnaudsuire | 0:d58c1b8d63d9 | 121 | float scaledBias = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 122 | |
arnaudsuire | 0:d58c1b8d63d9 | 123 | if (usingFeedForward) { |
arnaudsuire | 0:d58c1b8d63d9 | 124 | scaledBias = (bias_ - outMin_) / outSpan_; |
arnaudsuire | 0:d58c1b8d63d9 | 125 | } |
arnaudsuire | 0:d58c1b8d63d9 | 126 | else { |
arnaudsuire | 0:d58c1b8d63d9 | 127 | scaledBias = (realOutput_ - outMin_) / outSpan_; |
arnaudsuire | 0:d58c1b8d63d9 | 128 | } |
arnaudsuire | 0:d58c1b8d63d9 | 129 | |
arnaudsuire | 0:d58c1b8d63d9 | 130 | prevControllerOutput_ = scaledBias; |
arnaudsuire | 0:d58c1b8d63d9 | 131 | prevProcessVariable_ = (processVariable_ - inMin_) / inSpan_; |
arnaudsuire | 0:d58c1b8d63d9 | 132 | |
arnaudsuire | 0:d58c1b8d63d9 | 133 | //Clear any error in the integral. |
arnaudsuire | 0:d58c1b8d63d9 | 134 | accError_ = 0; |
arnaudsuire | 0:d58c1b8d63d9 | 135 | |
arnaudsuire | 0:d58c1b8d63d9 | 136 | } |
unix_guru | 1:117e0c36eb22 | 137 | |
arnaudsuire | 0:d58c1b8d63d9 | 138 | void PID::setMode(int mode) { |
arnaudsuire | 0:d58c1b8d63d9 | 139 | |
arnaudsuire | 0:d58c1b8d63d9 | 140 | //We were in manual, and we just got set to auto. |
arnaudsuire | 0:d58c1b8d63d9 | 141 | //Reset the controller internals. |
arnaudsuire | 0:d58c1b8d63d9 | 142 | if (mode != 0 && !inAuto) { |
arnaudsuire | 0:d58c1b8d63d9 | 143 | reset(); |
arnaudsuire | 0:d58c1b8d63d9 | 144 | } |
arnaudsuire | 0:d58c1b8d63d9 | 145 | |
arnaudsuire | 0:d58c1b8d63d9 | 146 | inAuto = (mode != 0); |
arnaudsuire | 0:d58c1b8d63d9 | 147 | |
unix_guru | 1:117e0c36eb22 | 148 | } |
arnaudsuire | 0:d58c1b8d63d9 | 149 | |
arnaudsuire | 0:d58c1b8d63d9 | 150 | void PID::setInterval(float interval) { |
arnaudsuire | 0:d58c1b8d63d9 | 151 | |
arnaudsuire | 0:d58c1b8d63d9 | 152 | if (interval > 0) { |
arnaudsuire | 0:d58c1b8d63d9 | 153 | //Convert the time-based tunings to reflect this change. |
arnaudsuire | 0:d58c1b8d63d9 | 154 | tauR_ *= (interval / tSample_); |
arnaudsuire | 0:d58c1b8d63d9 | 155 | accError_ *= (tSample_ / interval); |
arnaudsuire | 0:d58c1b8d63d9 | 156 | tauD_ *= (interval / tSample_); |
arnaudsuire | 0:d58c1b8d63d9 | 157 | tSample_ = interval; |
arnaudsuire | 0:d58c1b8d63d9 | 158 | } |
arnaudsuire | 0:d58c1b8d63d9 | 159 | |
arnaudsuire | 0:d58c1b8d63d9 | 160 | } |
unix_guru | 1:117e0c36eb22 | 161 | |
arnaudsuire | 0:d58c1b8d63d9 | 162 | void PID::setSetPoint(float sp) { |
arnaudsuire | 0:d58c1b8d63d9 | 163 | |
arnaudsuire | 0:d58c1b8d63d9 | 164 | setPoint_ = sp; |
arnaudsuire | 0:d58c1b8d63d9 | 165 | |
arnaudsuire | 0:d58c1b8d63d9 | 166 | } |
arnaudsuire | 0:d58c1b8d63d9 | 167 | |
arnaudsuire | 0:d58c1b8d63d9 | 168 | void PID::setProcessValue(float pv) { |
arnaudsuire | 0:d58c1b8d63d9 | 169 | |
arnaudsuire | 0:d58c1b8d63d9 | 170 | processVariable_ = pv; |
arnaudsuire | 0:d58c1b8d63d9 | 171 | |
arnaudsuire | 0:d58c1b8d63d9 | 172 | } |
unix_guru | 1:117e0c36eb22 | 173 | |
arnaudsuire | 0:d58c1b8d63d9 | 174 | void PID::setBias(float bias){ |
arnaudsuire | 0:d58c1b8d63d9 | 175 | |
arnaudsuire | 0:d58c1b8d63d9 | 176 | bias_ = bias; |
arnaudsuire | 0:d58c1b8d63d9 | 177 | usingFeedForward = 1; |
arnaudsuire | 0:d58c1b8d63d9 | 178 | |
arnaudsuire | 0:d58c1b8d63d9 | 179 | } |
arnaudsuire | 0:d58c1b8d63d9 | 180 | |
arnaudsuire | 0:d58c1b8d63d9 | 181 | float PID::compute(float pv, float sp) { |
arnaudsuire | 0:d58c1b8d63d9 | 182 | |
arnaudsuire | 0:d58c1b8d63d9 | 183 | //enregistrer variables dans var interne |
arnaudsuire | 0:d58c1b8d63d9 | 184 | processVariable_ = pv; //ce que l'on mesure |
arnaudsuire | 0:d58c1b8d63d9 | 185 | setPoint_ = sp; // ce que l'on veut atteindre |
arnaudsuire | 0:d58c1b8d63d9 | 186 | |
arnaudsuire | 0:d58c1b8d63d9 | 187 | //Pull in the input and setpoint, and scale them into percent span. |
arnaudsuire | 0:d58c1b8d63d9 | 188 | float scaledPV = (processVariable_ - inMin_) / inSpan_; |
arnaudsuire | 0:d58c1b8d63d9 | 189 | |
arnaudsuire | 0:d58c1b8d63d9 | 190 | if (scaledPV > 1.0) { |
arnaudsuire | 0:d58c1b8d63d9 | 191 | scaledPV = 1.0; |
arnaudsuire | 0:d58c1b8d63d9 | 192 | } |
arnaudsuire | 0:d58c1b8d63d9 | 193 | else if (scaledPV < 0.0) { |
arnaudsuire | 0:d58c1b8d63d9 | 194 | scaledPV = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 195 | } |
arnaudsuire | 0:d58c1b8d63d9 | 196 | |
arnaudsuire | 0:d58c1b8d63d9 | 197 | float scaledSP = (setPoint_ - inMin_) / inSpan_; |
arnaudsuire | 0:d58c1b8d63d9 | 198 | if (scaledSP > 1.0) { |
arnaudsuire | 0:d58c1b8d63d9 | 199 | scaledSP = 1; |
arnaudsuire | 0:d58c1b8d63d9 | 200 | } |
arnaudsuire | 0:d58c1b8d63d9 | 201 | else if (scaledSP < 0.0) { |
arnaudsuire | 0:d58c1b8d63d9 | 202 | scaledSP = 0; |
arnaudsuire | 0:d58c1b8d63d9 | 203 | } |
arnaudsuire | 0:d58c1b8d63d9 | 204 | |
arnaudsuire | 0:d58c1b8d63d9 | 205 | float error = scaledSP - scaledPV; |
arnaudsuire | 0:d58c1b8d63d9 | 206 | |
arnaudsuire | 0:d58c1b8d63d9 | 207 | //Check and see if the output is pegged at a limit and only |
arnaudsuire | 0:d58c1b8d63d9 | 208 | //integrate if it is not. This is to prevent reset-windup. |
arnaudsuire | 0:d58c1b8d63d9 | 209 | if (!(prevControllerOutput_ >= 1 && error > 0) && !(prevControllerOutput_ <= 0 && error < 0)) { |
arnaudsuire | 0:d58c1b8d63d9 | 210 | accError_ += error; |
arnaudsuire | 0:d58c1b8d63d9 | 211 | } |
arnaudsuire | 0:d58c1b8d63d9 | 212 | |
arnaudsuire | 0:d58c1b8d63d9 | 213 | //Compute the current slope of the input signal. |
arnaudsuire | 0:d58c1b8d63d9 | 214 | float dMeas = (scaledPV - prevProcessVariable_) / tSample_; |
arnaudsuire | 0:d58c1b8d63d9 | 215 | //float dMeas = (scaledPV - prevProcessVariable_); |
arnaudsuire | 0:d58c1b8d63d9 | 216 | |
arnaudsuire | 0:d58c1b8d63d9 | 217 | float scaledBias = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 218 | |
arnaudsuire | 0:d58c1b8d63d9 | 219 | if (usingFeedForward) { |
arnaudsuire | 0:d58c1b8d63d9 | 220 | scaledBias = (bias_ - outMin_) / outSpan_; |
arnaudsuire | 0:d58c1b8d63d9 | 221 | } |
arnaudsuire | 0:d58c1b8d63d9 | 222 | |
arnaudsuire | 0:d58c1b8d63d9 | 223 | //Perform the PID calculation. |
arnaudsuire | 0:d58c1b8d63d9 | 224 | controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas)); |
arnaudsuire | 0:d58c1b8d63d9 | 225 | //controllerOutput_ = Kc_ * error + tauR_ * accError_ + tauD_ * dMeas; |
arnaudsuire | 0:d58c1b8d63d9 | 226 | |
arnaudsuire | 0:d58c1b8d63d9 | 227 | //Make sure the computed output is within output constraints. |
arnaudsuire | 0:d58c1b8d63d9 | 228 | if (controllerOutput_ < 0.0) { |
arnaudsuire | 0:d58c1b8d63d9 | 229 | controllerOutput_ = 0.0; |
arnaudsuire | 0:d58c1b8d63d9 | 230 | } |
arnaudsuire | 0:d58c1b8d63d9 | 231 | else if (controllerOutput_ > 1.0) { |
arnaudsuire | 0:d58c1b8d63d9 | 232 | controllerOutput_ = 1.0; |
arnaudsuire | 0:d58c1b8d63d9 | 233 | } |
arnaudsuire | 0:d58c1b8d63d9 | 234 | |
arnaudsuire | 0:d58c1b8d63d9 | 235 | //Remember this output for the windup check next time. |
arnaudsuire | 0:d58c1b8d63d9 | 236 | prevControllerOutput_ = controllerOutput_; |
arnaudsuire | 0:d58c1b8d63d9 | 237 | //Remember the input for the derivative calculation next time. |
arnaudsuire | 0:d58c1b8d63d9 | 238 | prevProcessVariable_ = scaledPV; |
arnaudsuire | 0:d58c1b8d63d9 | 239 | |
arnaudsuire | 0:d58c1b8d63d9 | 240 | //Scale the output from percent span back out to a real world number. |
arnaudsuire | 0:d58c1b8d63d9 | 241 | return ((controllerOutput_ * outSpan_) + outMin_); |
arnaudsuire | 0:d58c1b8d63d9 | 242 | |
arnaudsuire | 0:d58c1b8d63d9 | 243 | } |
arnaudsuire | 0:d58c1b8d63d9 | 244 | |
arnaudsuire | 0:d58c1b8d63d9 | 245 | float PID::getInMin() { |
arnaudsuire | 0:d58c1b8d63d9 | 246 | |
arnaudsuire | 0:d58c1b8d63d9 | 247 | return inMin_; |
arnaudsuire | 0:d58c1b8d63d9 | 248 | |
arnaudsuire | 0:d58c1b8d63d9 | 249 | } |
arnaudsuire | 0:d58c1b8d63d9 | 250 | |
arnaudsuire | 0:d58c1b8d63d9 | 251 | float PID::getInMax() { |
arnaudsuire | 0:d58c1b8d63d9 | 252 | |
arnaudsuire | 0:d58c1b8d63d9 | 253 | return inMax_; |
arnaudsuire | 0:d58c1b8d63d9 | 254 | |
arnaudsuire | 0:d58c1b8d63d9 | 255 | } |
arnaudsuire | 0:d58c1b8d63d9 | 256 | |
arnaudsuire | 0:d58c1b8d63d9 | 257 | float PID::getOutMin() { |
arnaudsuire | 0:d58c1b8d63d9 | 258 | |
arnaudsuire | 0:d58c1b8d63d9 | 259 | return outMin_; |
arnaudsuire | 0:d58c1b8d63d9 | 260 | |
arnaudsuire | 0:d58c1b8d63d9 | 261 | } |
arnaudsuire | 0:d58c1b8d63d9 | 262 | |
arnaudsuire | 0:d58c1b8d63d9 | 263 | float PID::getOutMax() { |
arnaudsuire | 0:d58c1b8d63d9 | 264 | |
arnaudsuire | 0:d58c1b8d63d9 | 265 | return outMax_; |
arnaudsuire | 0:d58c1b8d63d9 | 266 | |
arnaudsuire | 0:d58c1b8d63d9 | 267 | } |
arnaudsuire | 0:d58c1b8d63d9 | 268 | |
arnaudsuire | 0:d58c1b8d63d9 | 269 | float PID::getInterval() { |
arnaudsuire | 0:d58c1b8d63d9 | 270 | |
arnaudsuire | 0:d58c1b8d63d9 | 271 | return tSample_; |
arnaudsuire | 0:d58c1b8d63d9 | 272 | |
arnaudsuire | 0:d58c1b8d63d9 | 273 | } |
arnaudsuire | 0:d58c1b8d63d9 | 274 | |
arnaudsuire | 0:d58c1b8d63d9 | 275 | float PID::getPParam() { |
arnaudsuire | 0:d58c1b8d63d9 | 276 | |
arnaudsuire | 0:d58c1b8d63d9 | 277 | return pParam_; |
arnaudsuire | 0:d58c1b8d63d9 | 278 | |
arnaudsuire | 0:d58c1b8d63d9 | 279 | } |
arnaudsuire | 0:d58c1b8d63d9 | 280 | |
arnaudsuire | 0:d58c1b8d63d9 | 281 | float PID::getIParam() { |
arnaudsuire | 0:d58c1b8d63d9 | 282 | |
arnaudsuire | 0:d58c1b8d63d9 | 283 | return iParam_; |
arnaudsuire | 0:d58c1b8d63d9 | 284 | |
arnaudsuire | 0:d58c1b8d63d9 | 285 | } |
arnaudsuire | 0:d58c1b8d63d9 | 286 | |
arnaudsuire | 0:d58c1b8d63d9 | 287 | float PID::getDParam() { |
arnaudsuire | 0:d58c1b8d63d9 | 288 | |
arnaudsuire | 0:d58c1b8d63d9 | 289 | return dParam_; |
arnaudsuire | 0:d58c1b8d63d9 | 290 | |
arnaudsuire | 0:d58c1b8d63d9 | 291 | } |