| 132 | |
| 133 | |
| 134 | bool PID_RT::setInterval(uint32_t interval) |
| 135 | { |
| 136 | if (interval != _interval) |
| 137 | { |
| 138 | _interval = interval; |
| 139 | // recalculate __Ki and __Kd. |
| 140 | setKi(_Ki); |
| 141 | setKd(_Kd); |
| 142 | return true; |
| 143 | } |
| 144 | return false; |
| 145 | } |
| 146 | |
| 147 | |
| 148 | // -- END OF FILE -- |