PIDF(KVals kVals, std::shared_ptr<PIDF_Extension> extension, double maxIntegral = -1, double integralZone = -1, double integralZero = -1)

Constructs a PIDF object with the kP, kI, kD, and kF values set to the values in the kVals struct. The extension is set to the extension parameter. The maxIntegral is set to the maxIntegral parameter. The integralZone is set to the integralZone parameter. The integralZero is set to the integralZero parameter.

Parameters

• kVals - The KVals struct
• extension - The PIDF_Extension object
• maxIntegral - The maximum integral value (default -1)
• integralZone - The integral growth range (default -1)
• integralZero - The integral zero range (default -1)

Example

struct MyExtension : public PIDF_Extension {
    double getVal(double value) {
        if(value > 100) {
            value = 100;
        }
        return value;
    }
};
PIDF pidf = PIDF({1, 1, 1, 0}, std::make_shared<MyExtension>(), 100, 10, 5);