| public Get ( double currentPoint ) : double | ||
| currentPoint | double | current point of the system as read by a sensor |
| return | double | |
public double Get(double currentPoint)
{
double error = (SetPoint - currentPoint);
if (Continuous)
error = Utility.Util.WrapError(currentPoint, SetPoint, MinInput, MaxInput);
double p = m_kP == 0 ? 0 : m_kP * error;
double I = m_kI == 0 ? 0 : m_kI * m_i.Get(error);
double d = m_kD == 0 ? 0 : m_kD * m_d.Get(error);
return Utility.Util.Limit(p + I + d, Min, Max);
}