General

The semf::PidController class is a discrete proportional integral derivative controller. It is sued to calculate the output for a controlled system.

PidController

A bunch of parameters has to be given to the object’s constructor:

Parameters PidController

Initialization and Usage

#include "semf/utils/ processing/pidcontroller.h"
semf::PidController pid(5, 200, 40, 0.1, 0, 5, 2.5, 1, 0.4);
double processOutput = 0;
double processInput = 0;
while(true)
{
    processOutput += 0.1;
    processInput = pid.calculate(processOutput);
}