Merge branch 'master' of https://github.com/rosmod/lib-pid

Author: Dwatkins

README.md

@@ -0,0 +1,47 @@
+# lib-pid
+simple pid class ready to import as a source library in ROSMOD
+
+# source library setup
+
+1. In this github repo navigate to [releases](https://github.com/rosmod/lib-pid/releases), right click on `pid.zip` (not the source code zip!) and select `Copy link address'
+2. In a rosmod project, drag in a new source library to the software model
+3. Paste the link in the url attribute
+4. Name the source library `pid`
+
+
+# Usage
+
+1. Drag the library into the `set editor` of any component that uses it
+2. In the forwards section of the component add `#include "pid/pid.h`
+
+
+# API
+
+## Instantiaion
+
+```c++
+PID pidObject();
+PID pidObject(Kp, Ki, Kd, 0, 0, i_max, i_min);
+```
+
+## Set goal
+
+```c++
+// double goal = XXX;
+pidObject.setPoint(goal);
+```
+
+## get pid output
+
+```c++
+// double currentValue = XXX;
+double output = pidObject.update(currentValue);
+```
+
+## Clamp output
+
+```c++
+// double outputMin = XXX;
+// double outputMax = XXX;
+pidObject.limitOutput(outputMin, outputMax);
+```