Diff: PID.cpp

Revision:

2:124819d33ba6

Parent:

1:709ed452cc4c

--- a/PID.cpp	Thu May 14 12:28:08 2015 +0000
+++ b/PID.cpp	Tue May 19 13:52:10 2015 +0000
@@ -24,7 +24,7 @@
  * THE SOFTWARE.
  *
  * @section DESCRIPTION
- * 
+ *
  * A PID controller is a widely used feedback controller commonly found in
  * industry.
  *
@@ -49,7 +49,8 @@
  */
 #include "PID.h"
 
-PID::PID(float Kc, float tauI, float tauD, float interval) {
+PID::PID(float Kc, float tauI, float tauD, float interval)
+{
 
     usingFeedForward = false;
     inAuto           = false;
@@ -72,12 +73,13 @@
 
     accError_ = 0.0;
     bias_     = 0.0;
-    
+
     realOutput_ = 0.0;
 
 }
 
-void PID::setInputLimits(float inMin, float inMax) {
+void PID::setInputLimits(float inMin, float inMax)
+{
 
     //Make sure we haven't been given impossible values.
     if (inMin >= inMax) {
@@ -101,7 +103,8 @@
 
 }
 
-void PID::setOutputLimits(float outMin, float outMax) {
+void PID::setOutputLimits(float outMin, float outMax)
+{
 
     //Make sure we haven't been given impossible values.
     if (outMin >= outMax) {
@@ -124,7 +127,8 @@
 
 }
 
-void PID::setTunings(float Kc, float tauI, float tauD) {
+void PID::setTunings(float Kc, float tauI, float tauD)
+{
 
     //Verify that the tunings make sense.
     if (Kc == 0.0 || tauI < 0.0 || tauD < 0.0) {
@@ -156,10 +160,11 @@
     Kc_   = Kc;
     tauR_ = tempTauR;
     tauD_ = tauD / tSample_;
-    
+
 }
 
-void PID::reset(void) {
+void PID::reset(void)
+{
 
     float scaledBias = 0.0;
 
@@ -177,7 +182,8 @@
 
 }
 
-void PID::setMode(int mode) {
+void PID::setMode(int mode)
+{
 
     //We were in manual, and we just got set to auto.
     //Reset the controller internals.
@@ -189,7 +195,8 @@
 
 }
 
-void PID::setInterval(float interval) {
+void PID::setInterval(float interval)
+{
 
     if (interval > 0) {
         //Convert the time-based tunings to reflect this change.
@@ -201,26 +208,30 @@
 
 }
 
-void PID::setSetPoint(float sp) {
+void PID::setSetPoint(float sp)
+{
 
     setPoint_ = sp;
 
 }
 
-void PID::setProcessValue(float pv) {
+void PID::setProcessValue(float pv)
+{
 
     processVariable_ = pv;
 
 }
 
-void PID::setBias(float bias){
+void PID::setBias(float bias)
+{
 
     bias_ = bias;
     usingFeedForward = 1;
 
 }
 
-float PID::compute() {
+float PID::compute()
+{
 
     //Pull in the input and setpoint, and scale them into percent span.
     scaledPV = (processVariable_ - inMin_) / inSpan_;
@@ -275,50 +286,64 @@
 
 }
 
-float PID::getInMin() {
+float PID::getInMin()
+{
 
     return inMin_;
 
 }
 
-float PID::getInMax() {
+float PID::getInMax()
+{
 
     return inMax_;
 
 }
 
-float PID::getOutMin() {
+float PID::getOutMin()
+{
 
     return outMin_;
 
 }
 
-float PID::getOutMax() {
+float PID::getOutMax()
+{
 
     return outMax_;
 
 }
 
-float PID::getInterval() {
+float PID::getInterval()
+{
 
     return tSample_;
 
 }
 
-float PID::getPParam() {
+float PID::getPParam()
+{
 
     return pParam_;
 
 }
 
-float PID::getIParam() {
+float PID::getIParam()
+{
 
     return iParam_;
 
 }
 
-float PID::getDParam() {
+float PID::getDParam()
+{
 
     return dParam_;
 
 }
+
+void PID::resetAccError()
+{
+    accError_ = 0;
+}
+