From c94a5389a0af9144182e90659c0807d61a91d22b Mon Sep 17 00:00:00 2001 From: Howard Stearns Date: Mon, 23 Nov 2015 10:31:37 -0800 Subject: [PATCH] comments --- libraries/shared/src/PIDController.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/shared/src/PIDController.h b/libraries/shared/src/PIDController.h index e89ff2a693..0b2411530a 100644 --- a/libraries/shared/src/PIDController.h +++ b/libraries/shared/src/PIDController.h @@ -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(); }