run the example_use.lua script
local pidcontrollers = require "lib.pidcontrollers"
local P = 0.15
local I = 0
local D = 0.1
--used for integral clamping--
local minimum_value = 0
local maximum_value = 15 --redstone
--used for integral clamping--
local continuous_scalar_pid = pidcontrollers.PID_Continuous_Scalar(P, I, D, minimum_value ,maximum_value)
local continuous_vector_pid = pidcontrollers.PID_Continuous_Vector(P, I, D, minimum_value ,maximum_value)
--use discrete pids for slower sample rates--
local slow_sample_rate = 0.3
local discrete_scalar_pid = pidcontrollers.PID_Discrete_Scalar(P, I, D, minimum_value ,maximum_value,slow_sample_rate)
local discrete_vector_pid = pidcontrollers.PID_Discrete_Vector(P, I, D, minimum_value ,maximum_value,slow_sample_rate)
--use discrete pids for slower sample rates--
local error_value = 69
local error_value_vec = vector.new(4,2,0)
while true do
--[[
pid_value = continuous_scalar_pid:run(error_value)
pid_value_vec = continuous_vector_pid:run(error_value_vec)
print("cont_val: ",pid_value)
print("cont_vec: ",pid_value_vec:tostring())
os.sleep(0)
]]--
pid_value = discrete_scalar_pid:run(error_value)
pid_value_vec = discrete_vector_pid:run(error_value_vec)
print("disc_val: ",pid_value)
print("disc_vec: ",pid_value_vec:tostring())
os.sleep(slow_sample_rate)
end