Method PID

PID_v1.cpp:20–37

Constructor (...)********************************************************* * The parameters specified here are those for for which we can't set up * reliable defaults, so we need to have the user set them. ***************************************************************************/

 *    reliable defaults, so we need to have the user set them.
 ***************************************************************************/
PID::PID(double* Input, double* Output, double* Setpoint,
        double Kp, double Ki, double Kd, int POn, int ControllerDirection)
{
    myOutput = Output;
    myInput = Input;
    mySetpoint = Setpoint;
    inAuto = false;

    PID::SetOutputLimits(0, 255);				//default output limit corresponds to
												//the arduino pwm limits

    SampleTime = 100;							//default Controller Sample Time is 0.1 seconds

    PID::SetControllerDirection(ControllerDirection);
    PID::SetTunings(Kp, Ki, Kd, POn);

    lastTime = millis()-SampleTime;
}

/*Constructor (...)*********************************************************
 *    To allow backwards compatability for v1.1, or for people that just want