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Pid Controller

General

The PidController class is a discrete proportional integral derivative controller. It has as its main purpose the computation of the next input to the system/plant.

A bunch of parameters has to be given to the object’s constructor:

Initialization and Usage

#include 

semf::PidController pid(5, 200, 40, 0.1, 0, 5, 2.5, 1, 0.4);

double processOutput = 0;
double processInput = 0;

 while(true)
{
	processInput = pid.calculate(processOutput);
}

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