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Expose integral to enable user-space hacking #133

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5 changes: 3 additions & 2 deletions PID_v1.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,8 @@ class PID
// the PID calculation is performed. default is 100


void Initialize(); // * bumpless update of internal variables.
double outputSum; // * internal integrator state for understanding and user-space control

//Display functions ****************************************************************
double GetKp(); // These functions query the pid for interal values.
Expand All @@ -61,7 +63,6 @@ class PID
int GetDirection(); //

private:
void Initialize();

double dispKp; // * we'll hold on to the tuning parameters in user-entered
double dispKi; // format for display purposes
Expand All @@ -80,7 +81,7 @@ class PID
// what these values are. with pointers we'll just know.

unsigned long lastTime;
double outputSum, lastInput;
double lastInput;

unsigned long SampleTime;
double outMin, outMax;
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