Arduino PID Library with added features:

• 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.

• Allow settings separate limits for the internal integrator (using the new SetIntegratorLimits() method)

• 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 <br3ttb@gmail.com> brettbeauregard.com

This Library is licensed under the MIT License

• 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/

• For function documentation see: http://playground.arduino.cc/Code/PIDLibrary