Method SetMode

PID_v1.cpp:175–183

SetMode(...)**************************************************************** * Allows the controller Mode to be set to manual (0) or Automatic (non-zero) * when the transition from manual to auto occurs, the controller is * automatically initialized ******************************************************************************/

 * automatically initialized
 ******************************************************************************/
void PID::SetMode(int Mode)
{
    bool newAuto = (Mode == AUTOMATIC);
    if(newAuto && !inAuto)
    {  /*we just went from manual to auto*/
        PID::Initialize();
    }
    inAuto = newAuto;
}

/* Initialize()****************************************************************
 *	does all the things that need to happen to ensure a bumpless transfer