public double Update(double input, double setpoint, double MomentOfInertia, double maxOutput) { I = MomentOfInertia; Loop.Ki = MomentOfInertia * (Math.Pow(4.0 / ts, 2)); //weird bug pf Ki = 1 without () Loop.Kp = 2 * Math.Pow(MomentOfInertia * Loop.Ki, 0.5); return(TorqueAdjust.Update(Loop.Update(input, setpoint, maxOutput))); }
public void ResetI() { Loop.ResetI(); TorqueAdjust.Reset(); }