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PID - Library

Topic last updated 19 Sep 2012, by Nishant Sood. 1 reply
Gabriel Naves
21 May 2012

Helo everyone,

This could be a stupid doubt but i want to know. Im using the PID Library, and I have a doubt about a function, what is the purpose of the Bias ''scaledBias'' in the PID equation:

00259 controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas));

Import libraryPID

Proportional, integral, derivative controller library. Ported from the Arduino PID library by Brett Beauregard.

Last commit 02 Sep 2010 by Aaron Berk

Nishant Sood
19 Sep 2012

scaledBias could be the deviation from the actual value that you may find on trial and error that provides your equation weightage to calculate stuff so that you attain control.