Method SetSampleTime

PID_v1.cpp:134–144

SetSampleTime(...) ********************************************************* * sets the period, in Milliseconds, at which the calculation is performed ******************************************************************************/

 * sets the period, in Milliseconds, at which the calculation is performed
 ******************************************************************************/
void PID::SetSampleTime(int NewSampleTime)
{
   if (NewSampleTime > 0)
   {
      double ratio  = (double)NewSampleTime
                      / (double)SampleTime;
      ki *= ratio;
      kd /= ratio;
      SampleTime = (unsigned long)NewSampleTime;
   }
}

/* SetOutputLimits(...)****************************************************
 *     This function will be used far more often than SetInputLimits.  while