Alle Libraries eingefügt.

Libraries/pid/pid.h

@@ -0,0 +1,32 @@
+#ifndef PID_H
+#define PID_H
+
+class PID {
+public:
+    PID(float kp, float ki, float kd);
+
+    void setTunings(float kp, float ki, float kd);
+    void setOutputLimits(float min, float max);
+    void setSampleTime(int sampleTime);
+
+    void reset();
+
+    float compute(float setpoint, float input);
+
+private:
+    float kp;
+    float ki;
+    float kd;
+
+    float minOutput;
+    float maxOutput;
+    float lastOutput;
+
+    int sampleTime;
+    unsigned long lastTime;
+
+    float integral;
+    float lastInput;
+};
+
+#endif