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PID-V1.0

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PID-V1.5

image

https://github.com/user-attachments/assets/194039fe-7033-43fb-b6eb-21b65a4261d4

Equations #1

https://www.youtube.com/watch?v=RZW1PsfgVEI

Equations #2

https://www.youtube.com/watch?v=zOByx3Izf5U

https://github.com/pms67/PID

pid.differentiator = -((2.0f * pid.Kd * (measurement - pid.prevMeasurement)) + (((2.0f * pid.tau) - pid.T) * pid.differentiator)) / ((2.0f * pid.tau) + pid.T);