Thread: Speed PID Function
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Unread 28-01-2012, 11:35
davidthefat davidthefat is offline
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Re: Speed PID Function
Quote:
Originally Posted by John_1102 View Post
I understand the theoretical stuff with the PID now.
I just need some psuedo-code or something to help me implement it.
I'm currently clueless.
Code:
previous_error = setpoint - process_feedback
integral = 0
start:
  wait(dt)
  error = setpoint - process_feedback
  integral = integral + (error*dt)
  derivative = (error - previous_error)/dt
  output = (Kp*error) + (Ki*integral) + (Kd*derivative)
  previous_error = error
  goto start
Straight from: http://en.wikipedia.org/wiki/PID_controller#Pseudocode
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