Overview This repository contains a simple implementation of a Proportional-Integral-Derivative (PID) controller in C++ for an STM32F4 microcontroller.

Files

• PID.h: Header file containing the PID class definition and declarations.
• PID.cpp: C++ file implementing the PID class methods.

Features

• Proportional, Integral, and Derivative terms for precise control.
• Anti-windup logic to prevent integrator windup.
• Implementation suitable for STM32F4 microcontroller.

Usage

• Include the Files:
• Add the PID.h and PID.cpp files to your STM32F4 project.
• Instantiate PID Controller:
• Create an instance of the PID class in your code.

#include "PID.h"
PID Pid;

Configure PID Parameters:

Pid.Kp = 0.1;
Pid.Ki = 0.1;
Pid.Kd = 0.1;

Update PID:

• Call the Update method in your control loop to compute the control output.

float setpoint =  desired_value;
float measurement = current_value;
float output = Pid.Update(setpoint, measurement);

Additional Notes:

• The implementation includes anti-windup logic to prevent integrator windup.
• Ensure that the timing parameters (T and tau) are appropriately set for your system.