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
#includesemf::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); }