comparison core/Pid.cpp @ 152:8f98b32d0e23 ClockSync

Last commit on this branch for a while. Overall not very succesful

 	integralError = 0;
 	pastError = 0;
 	error = 0;
 	differentialError = 0;
 	kp = 5;
-	ki = 2;
-	kd = 0.8;
+	ki = 2;// 2;
+	kd = 0.8; //0.8;
+	gain = 1;
 	idleTimeout = 0;
 	timeoutCount = 0;
 	output = 0;
 //	printf("----------%f %f %f %f %f %f\n", kp, error, ki, integralError, kd, differentialError);
 }

 	pastError = error;
 	error = anError;
 	ts = 1; //TODO: this should be passed as a parameter, unless setError() gets always called at constant intervals
 	updateIntegralError();
 	updateDifferentialError();
-	output= kp * error + ki * integralError + kd * differentialError;
+	output = gain * (kp * error + ki * integralError + kd * differentialError);
 //	printf("%f %f %f %f %f %f %f\n", output, kp, error, ki, integralError, kd, differentialError);
 	return output;
 }
 float Pid::getOutput(){
 	return output;
 }
-
-
+void Pid::setProportionalGain(float proportionalGain){
+	kp = proportionalGain;
+}
+void Pid::setDerivativeGain(float derivativeGain){
+	kd = derivativeGain;
+}
+void Pid::setIntegralGain(float integralGain){
+	ki = integralGain;
+}
+void Pid::setGlobalGain(float globalGain){
+	gain = globalGain;
+}
+float Pid::getProportionalGain(){
+	return kp;
+}
+float Pid::getDerivativeGain(){
+	return kd;
+}
+float Pid::getIntegralGain(){
+	return ki;
+}
+float Pid::getGlobalGain(){
+	return gain;
+}
+float Pid::getIntegralError(){
+	return integralError;
+}