Jan Meindl / PID

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

Fork of PID by Aaron Berk

Diff: PID.h

Revision:
1:c67f4f763c45
Parent:
0:6e12a3e5af19
--- a/PID.h	Thu Sep 02 16:48:10 2010 +0000
+++ b/PID.h	Tue Aug 11 13:05:25 2015 +0000
@@ -105,6 +105,13 @@
      */
     void setTunings(float Kc, float tauI, float tauD);
 
+    /** 
+      * id == 1: tuning P parameter
+      * id == 2: tuning I parameter
+      * id == 3: tuning D parameter
+      */
+    void setTunings(int id, float data);
+
     /**
      * Reinitializes controller internals. Automatically
      * called on a manual to auto transition.
@@ -198,6 +205,8 @@
     float outSpan_;
 
     //The accumulated error, i.e. integral.
+    int   accPosition;
+    float accErrorArray[50];
     float accError_;
     //The controller output bias.
     float bias_;