Diff: PID.h

Revision:

1:4df4895863cd

Parent:

0:7f9b4ca968ae

Child:

2:f8864ce26cd8

--- a/PID.h	Thu Feb 18 04:25:52 2016 +0000
+++ b/PID.h	Fri Apr 22 09:38:38 2016 +0000
@@ -9,11 +9,13 @@
         PID(float setKp, float setKi, float setKd, float setSampletime);       
         void SetOutputLimits(float setoutputLimits_H, float setoutputLimits_L);
         void SetInputLimits(float setinputLimits_H, float setinputLimits_L);
-        void Compute(float setreference, float setfeedbackvalue);  
+        void Compute(float setreference, float setfeedbackvalue); 
+        void PID::EnableAntiWindUp(float Ka_); 
         
         float Kp;
         float Ki;
         float Kd;
+        float Ka;
  
         float error[3];
         float output;
@@ -30,6 +32,7 @@
     
         bool Outputlimit_bool;
         bool Inputlimit_bool;
+        bool AntiWindUp_bool;
         
         float outputLimits_H;
         float outputLimits_L;