PID::PID(float Kc, float tauI, float tauD, float interval) {
usingFeedForward = false;
inAuto = false;
//Default the limits to the full range of I/O: 3.3V
//Make sure to set these to more appropriate limits for
//your application.
setInputLimits(0.0, 3.3);
setOutputLimits(0.0, 3.3);
tSample_ = interval;
setTunings(Kc, tauI, tauD);
setPoint_ = 0.0;
processVariable_ = 0.0;
prevProcessVariable_ = 0.0;
controllerOutput_ = 0.0;
prevControllerOutput_ = 0.0;
accError_ = 0.0;
bias_ = 0.0;
realOutput_ = 0.0;
}
PID::PID(double kp, double ki, double kd, uint8_t direction, uint32_t period, uint32_t time){
setOutputLimits(0, 255);
setPeriod(100);
setDirection(direction);
setTunings(kp, ki, kd);
if (time > period) lastTime = time - period;
else lastTime = 0;
}
/**Specify a maximum output. If a single parameter is specified, the minimum is
* set to (-maximum).
* @param output
*/
void MiniPID::setOutputLimits(double output){ setOutputLimits(-output,output);}