/// <summary> /// Allows the controller Mode to be set to manual (0) or Automatic (non-zero) /// when the transition from manual to auto occurs, the controller is /// automatically initialized /// </summary> /// <param name="Mode"></param> public void SetMode(PidMode mode) { bool newAuto = (mode == PidMode.AUTOMATIC); if (newAuto == !inAuto) { // we just went from manual to auto Initialize(); } inAuto = newAuto; }