Added get/set integral fxns

r-downing · Mar 4, 2018 · fea6b99 · fea6b99
1 parent d8c8c34
commit fea6b99
Show file tree

Hide file tree

Showing 5 changed files with 15 additions and 1 deletion.
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1 @@
+.vscode*
diff --git a/AutoPID.cpp b/AutoPID.cpp
@@ -82,6 +82,14 @@ bool AutoPID::isStopped(){
   return _stopped;
 }
 
+double AutoPID::getIntegral(){
+  return _integral;
+}
+
+void AutoPID::setIntegral(double integral){
+  _integral = integral;
+}
+
 void AutoPIDRelay::run() {
   AutoPID::run();
   while ((millis() - _lastPulseTime) > _pulseWidth) _lastPulseTime += _pulseWidth;

diff --git a/AutoPID.h b/AutoPID.h
@@ -28,6 +28,9 @@ class AutoPID {
     void reset();
     bool isStopped();
 
+    double getIntegral();
+    void setIntegral(double integral);
+
   private:
     double _Kp, _Ki, _Kd;
     double _integral, _previousError;

diff --git a/keywords.txt b/keywords.txt
@@ -21,6 +21,8 @@ atSetPoint	KEYWORD2
 run	KEYWORD2
 stop	KEYWORD2
 reset	KEYWORD2
+setIntegral	KEYWORD2
+getIntegral	KEYWORD2
 
 #######################################
 # Constants (LITERAL1)

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=AutoPID
-version=1.0.2
+version=1.0.3
 author=Ryan Downing 
 maintainer=Ryan Downing
 sentence=Automatic PID controller