Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-20 04:44:11 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

comments

Browse source
This commit is contained in:
Howard Stearns 2015-11-23 10:31:37 -08:00
parent 5912808077
commit c94a5389a0
1 changed files with 3 additions and 3 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

6
libraries/shared/src/PIDController.h
View file

@ -38,9 +38,9 @@ public:
float getControlledValueLowLimit() const { return _controlledValueLowLimit; }
float getControlledValueHighLimit() const { return _controlledValueHighLimit; }
float getAntiWindupFactor() const { return _antiWindupFactor; } // default 10
float getKP() const { return _kp; }
float getKI() const { return _ki; }
float getKD() const { return _kd; }
float getKP() const { return _kp; } // proportional to error. See comment above class.
float getKI() const { return _ki; } // to time integral of error
float getKD() const { return _kd; } // to time derivative of error
float getAccumulatedValueHighLimit() const { return getAntiWindupFactor() * getMeasuredValueSetpoint(); }
float getAccumulatedValueLowLimit() const { return -getAntiWindupFactor() * getMeasuredValueSetpoint(); }