Arduino PID Library with added features:
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Low-pass filtering (using an exponentially weighted moving average filter) of the input before deriving it for much less noisy D part of the controller. Use the new SetSmoothingFactor() method to change the filter strength.
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Allow settings separate limits for the internal integrator (using the new SetIntegratorLimits() method)
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More methods to get PID internal values for debugging (GetPonE(), GetDeltaInput(), GetLastPPart(), GetLastIPart(), GetLastDPart(), GetInputError())
Original Readme
Arduino PID Library - Version 1.2.1
by Brett Beauregard <[email protected]> brettbeauregard.com
This Library is licensed under the MIT License
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For an ultra-detailed explanation of why the code is the way it is, please visit: http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
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For function documentation see: http://playground.arduino.cc/Code/PIDLibrary