private void InitPid(ulong millis)
{
double kp = 0.0d;
double ki = 0.0d;
double kd = 0.0d;
double limits = 300.0d; // PID output limits, a single cycle correction max
kp = 0.055d;
//ki = 0.000001d;
kd = 0.005d;
pidA = new PIDControllerA(0, 0, 0, kp, ki, kd, PidDirection.DIRECT, millis);
pidA.SetSampleTime(pidSampleTimeMs);
pidA.SetOutputLimits(-limits, limits, 70);
pidA.Initialize();
}
private void CollectAndApplyPidControls()
{
try
{
double kp = double.Parse(textBoxKp.Text.Trim());
double ki = double.Parse(textBoxKi.Text.Trim());
double kd = double.Parse(textBoxKd.Text.Trim());
double min = double.Parse(textBoxMin.Text.Trim());
double max = double.Parse(textBoxMax.Text.Trim());
//double integralMax = double.Parse(textBoxIntegralMax.Text.Trim()); // not used on pidA
pidA.SetTunings(kp, ki, kd);
pidA.SetOutputLimits(min, max);
}
catch (Exception ex)
{
}
}