Brewery/Arduino-PID-Library
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Expose integral to enable user-space hacking

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This commit is contained in:
David Forrest 2023-03-03 09:49:40 -05:00 committed by David R Forrest
parent 41bc38c879
commit 06804ed13a
1 changed files with 3 additions and 2 deletions
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5
PID_v1.h
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@ -52,6 +52,8 @@ class PID
// the PID calculation is performed. default is 100 // the PID calculation is performed. default is 100
void Initialize(); // * bumpless update of internal variables.
double outputSum; // * internal integrator state for understanding and user-space control
//Display functions **************************************************************** //Display functions ****************************************************************
double GetKp(); // These functions query the pid for interal values. double GetKp(); // These functions query the pid for interal values.
@ -61,7 +63,6 @@ class PID
int GetDirection(); // int GetDirection(); //
private: private:
void Initialize();
double dispKp; // * we'll hold on to the tuning parameters in user-entered double dispKp; // * we'll hold on to the tuning parameters in user-entered
double dispKi; // format for display purposes double dispKi; // format for display purposes
@ -80,7 +81,7 @@ class PID
// what these values are. with pointers we'll just know. // what these values are. with pointers we'll just know.
unsigned long lastTime; unsigned long lastTime;
double outputSum, lastInput; double lastInput;
unsigned long SampleTime; unsigned long SampleTime;
double outMin, outMax; double outMin, outMax;