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Update PID_v1.h #127

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Update PID_v1.h #127

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18 changes: 9 additions & 9 deletions PID_v1.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,12 +17,12 @@ class PID
#define P_ON_E 1

//commonly used functions **************************************************************************
PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here.
PID(double*, double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, double, int, int);// Setpoint. Initial tuning parameters are also set here.
// (overload for specifying proportional mode)

PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, int); // Setpoint. Initial tuning parameters are also set here
PID(double*, double*, double*, double*, // * constructor. links the PID to the Input, Output, and
double, double, double, double, int); // Setpoint. Initial tuning parameters are also set here

void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)

Expand All @@ -39,9 +39,9 @@ class PID

//available but not commonly used functions ********************************************************
void SetTunings(double, double, // * While most users will set the tunings once in the
double); // constructor, this function gives the user the option
double, double); // constructor, this function gives the user the option
// of changing tunings during runtime for Adaptive control
void SetTunings(double, double, // * overload for specifying proportional mode
void SetTunings(double, double, double // * overload for specifying proportional mode
double, int);

void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
Expand Down Expand Up @@ -74,13 +74,13 @@ class PID
int controllerDirection;
int pOn;

double *myInput; // * Pointers to the Input, Output, and Setpoint variables
double *myInput;// * Pointers to the Input, Output, and Setpoint variables
double *myOutput; // This creates a hard link between the variables and the
double *mySetpoint; // PID, freeing the user from having to constantly tell us
// what these values are. with pointers we'll just know.
double *myInput2; // what these values are. with pointers we'll just know.

unsigned long lastTime;
double outputSum, lastInput;
double outputSum, lastInput, lastInput2;

unsigned long SampleTime;
double outMin, outMax;
Expand Down