PID()

Creates a PID controller linked to the specified Input, Output, and Setpoint. The PID algorithm is in parallel form.

PID(&Input, &Output, &Setpoint, Kp, Ki, Kd, Direction)

PID(&Input, &Output, &Setpoint, Kp, Ki, Kd, POn, Direction)

Input: The variable we're trying to control (double)

Output: The variable that will be adjusted by the pid (double)

Setpoint: The value we want to Input to maintain (double)

Kp, Ki, Kd: Tuning Parameters. these affect how the pid will change the output. (double>=0)

Direction: Either DIRECT or REVERSE. determines which direction the output will move when faced with a given error. DIRECT is most common.

POn: Either P_ON_E (Default) or P_ON_M. Allows Proportional on Measurement to be specified.

None