From 90922dc11f15689529512e076b9a416230b561c1 Mon Sep 17 00:00:00 2001
From: TekuConcept <electro_madness@yahoo.com>
Date: Sun, 19 Mar 2017 06:53:37 +0000
Subject: [PATCH] Added PID Controller

---
 BoneCentral/Brain/Utilities/pid.js | 45 ++++++++++++++++++++++++++++++
 1 file changed, 45 insertions(+)
 create mode 100644 BoneCentral/Brain/Utilities/pid.js

diff --git a/BoneCentral/Brain/Utilities/pid.js b/BoneCentral/Brain/Utilities/pid.js
new file mode 100644
index 0000000..6950b27
--- /dev/null
+++ b/BoneCentral/Brain/Utilities/pid.js
@@ -0,0 +1,45 @@
+module.exports = (function() {
+    function PID() {
+        this.dt = 0.1;
+        this.perr = 0;
+        this.min = -100;
+        this.max = 100;
+        this.kp = 0.1;
+        this.ki = 0.5;
+        this.kd = 0.01;
+    }
+    
+    PID.prototype.update = function(sp, pv) {
+        var err = sp-pv;
+        var op  = this.kp*err;
+        var oi  = this.ki*err*this.dt;
+        var od  = this.kd*(err-this.perr)/this.dt;
+        var res = op + oi + od;
+        if(res > this.max)
+            res = this.max;
+        else if(res < this.min)
+            res = this.min;
+        return res;
+    };
+    
+    PID.prototype.setBounds = function(min, max) {
+        this.min = min;
+        this.max = max;
+    };
+    
+    PID.prototype.setDelta = function(time) {
+        this.dt = time;
+    }
+    
+    PID.prototype.calibrate = function(p, i, d) {
+        this.kp = p;
+        this.ki = i;
+        this.kd = d;
+    }
+    
+    PID.prototype.reset = function() {
+        this.perr = 0;
+    }
+    
+    return PID;
+})();
\ No newline at end of file