drf5n

Here's a sample user-space anti-windup scheme on that example: ``` // user-space anti-windup method: if((myPID.Get(Kp) * (Setpoint-Input) + myPID.GetIntegral())>255){ myPID.SetIntegral(0); // PD only below proportional zone } ``` And a...

Thanks. How about just adding a GetIntegral() ? I love the way your code does the integration into the output units into outputSum. That simplifies so many things. Other code...

I proposed a simpler change at https://github.com/br3ttb/Arduino-PID-Library/pull/133 It exposes already-existing private functions Initialize() and outputSum at zero cost, and would make this PR redundant.

> I encourage you to use Serial.print to output the Setpoint,Input,Output, and GetIntegral() over time. This simulation enables exactly that by adding GetIntegral() to its copy of the PID_v1 code...

Please add a tickmark and a callout on the pattern's ruler for the length of the nosewire.

windowStartTime is the same size as the millis() result, so it will roll over at about the same time as millis() itself rolls over https://github.com/br3ttb/Arduino-PID-Library/blob/9b4ca0e5b6d7bab9c6ac023e249d6af2446d99bb/examples/PID_RelayOutput/PID_RelayOutput.ino#L30 The math for differencing unsigned...

Other solutions are that you could filter the noise out of your sensor, tune your parameters to be less sensitive to noise, or you could even apply this procedure in...

> * If leaving ki = 0 and kd = 0, the system cannot oscillate: > * * Did you try to increase the kp value? Increasing kp in P_ON_M...

Does the existing fieldbook format work for levelling, even if confusing? If it does, maybe demonstrating / documenting how it can be used for levelling would be helpful.

Cool! Thanks. Could you add the `levelling.dmp` sample file to https://github.com/zsiki/GeoEasy/tree/master/src/demodata ? I tried a cut and paste of the ASCII table from the step-by-step but didn't seem to load...