pid

#include "PID.h"

void PID_Cyclic (int goal, int current, struct PID_Einstellung& PID)
{
	int AS = 15; 		//akzeptierer Fehler


PID.e = goal - current; // aktuelle Regelabweichung bestimmen
if ((PID.e >= AS)||(PID.e) >= (AS * (-1))) // Schwelle
{
if ((PID.u < 1023)&&(PID.u > 0)) // (Anti-Windup)
PID.esum = PID.esum + PID.e;


PID.u = PID.Kp* (PID.e + PID.I*PID.esum)+ PID.Tv*(PID.e-PID.ealt);
PID.ealt = PID.e;
}
if (PID.u > 1023) // Stellgröße auf (10 bit PWM)
{
PID.u = 1023;
}

}