24 lines
510 B
C++
24 lines
510 B
C++
#include "PID_v2.h"
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double Kp=1, Ki=0, Kd=0;
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double Input, Output,Setpoint;
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PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
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void setup() {
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// put your setup code here, to run once:
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myPID.SetSampleTime(1.5);
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myPID.SetDerivativeLag(1);
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myPID.SetOutputLimits(-255,255);
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myPID.SetControllerDirection(DIRECT);
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myPID.SetMode(AUTOMATIC);
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Serial.begin(9600);
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}
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void loop() {
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Input = 0; //[-179,180]
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Setpoint = 0;
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myPID.Compute();
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Serial.println(Output);
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}
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