C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/PlatformController/PidControl.cs

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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

namespace PlatformController {
        public static class PidControl {

                static double _Kp = 1, _Ki = 1, _Kd = 1;

                public static double Kp {
                        get { return PidControl._Kp; }
                }

                public static double Ki {
                        get { return PidControl._Ki; }
                }

                public static double Kd {
                        get { return PidControl._Kd; }
                }
                static double _pComponent = 0, _iComponent = 0, _dComponent = 0;

                public static double PComponent {
                        get { return PidControl._pComponent; }
                }

                public static double IComponent {
                        get { return PidControl._iComponent; }
                }

                public static double DComponent {
                        get { return PidControl._dComponent; }
                }

                static double manipulatedVariable = 0;

                public static void setPidCoefficients(double Kp, double Ki, double Kd) {
                        _Kp = Kp;
                        _Ki = Ki;
                        _Kd = Kd;
                }

                public static double getMvFromInput(double setpoint, List<int> processData, double timespan) {
                        _pComponent = 0;
                        _iComponent = 0;
                        _dComponent = 0;
                        //calculate porportional gain
                        _pComponent = setpoint - ((double)processData.Sum() / timespan);
                        //calculate integral gain, area under the curve
                        foreach (int d in processData)
                                _iComponent += setpoint - ((double)d * ((double)processData.Count / timespan));
                        //calculate derivitave gain only if the data set intersects the setpoint
                        for (int i = 0; i < processData.Count; ++i ) {
                                if ((double)processData[i] * ((double)processData.Count / timespan) > setpoint) {
                                        _dComponent = (double)(processData[processData.Count - 1] - processData[0]) / timespan;
                                        _dComponent = -1.0 * _dComponent;
                                        break;
                                }
                        }
                        manipulatedVariable = _pComponent * _Kp + (_iComponent * _Ki) + (_dComponent * _Kd);
                        return manipulatedVariable;
                }

        }
}

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