private void InitPid()
{
pidA = new PIDControllerA(0, 0, 0, 0, 0, 0, PidDirection.DIRECT, (ulong)samplingIntervalMilliSeconds); // PIDControllerA.GetMillis());
//pidA.SetOutputLimits(850.0d, 2200.0d);
pidA.SetSampleTime((int)samplingIntervalMilliSeconds);
}
private void InitPid(ulong millis)
{
double kp = 0.8d;
double ki = 0.01;
double kd = 0.04;
pidA = new PIDControllerA(0, 0, 0, kp, ki, kd, PidDirection.DIRECT, millis);
pidA.SetSampleTime(pidSampleTimeMs);
pidA.SetOutputLimits(-600, 600, 70);
pidA.Initialize();
}
