Cleaning PID lib.

1 files changed, 17 insertions, 17 deletions

diff --git a/os/various/pid.h b/os/various/pid.h
index d98df3e..d20b35d 100644
--- a/os/various/pid.h
+++ b/os/various/pid.h
@@ -14,26 +14,26 @@
 
 typedef struct {
     
+    float kp;     // * (P)roportional Tuning Parameter
+    float ki;     // * (I)ntegral Tuning Parameter
+    float kd;     // * (D)erivative Tuning Parameter
+    
     float dispKp; // * we'll hold on to the tuning parameters in user-entered 
     float dispKi; //   format for display purposes
     float dispKd; //
-    
-    float kp;                  // * (P)roportional Tuning Parameter
-    float ki;                  // * (I)ntegral Tuning Parameter
-    float kd;                  // * (D)erivative Tuning Parameter
 
-    int controllerDirection;
+    int direction;
     int pOn;
 
-    float *myInput;              // * Pointers to the Input, Output, and Setpoint variables
-    float *myOutput;             //   This creates a hard link between the variables and the 
-    float *mySetpoint;           //   PID, freeing the user from having to constantly tell us
-                                  //   what these values are.  with pointers we'll just know.
+    float *input;              // * Pointers to the Input, Output, and Setpoint variables
+    float *output;             //   This creates a hard link between the variables and the 
+    float *setPoint;           //   PID, freeing the user from having to constantly tell us
+                               //   what these values are.  with pointers we'll just know.
     unsigned long lastTime;
     float outputSum;
     float lastInput;
 
-    unsigned long SampleTime;
+    unsigned long sampleTime;
     float outMin;
     float outMax;
     
@@ -45,15 +45,15 @@ typedef struct {
 
 //commonly used functions **************************************************************************
 void pid_create(pid_t* p, float* Input, float* Output, float* Setpoint,  // * constructor.  links the PID to the Input, Output, and 
-        float Kp, float Ki, float Kd, int POn, int ControllerDirection);  //   Setpoint.  Initial tuning parameters are also set here.
-                                                                        //   (overload for specifying proportional mode)
+                float Kp, float Ki, float Kd, int POn, int Direction);   //   Setpoint.  Initial tuning parameters are also set here.
+                                                                         //   (overload for specifying proportional mode)
 
 void pid_setmode(pid_t* p, int mode);                 // * sets PID to either Manual (0) or Auto (non-0)
 
 bool pid_compute(pid_t* p);               // * performs the PID calculation.  it should be
                                           //   called every time loop() cycles. ON/OFF and
                                           //   calculation frequency can be set using SetMode
-                                          //   SetSampleTime respectively
+                                          //   SetsampleTime respectively
 
 void pid_setOutputLimits(pid_t* p, float Min, float Max); // * clamps the output to a specific range. 0-255 by default, but
                                                           //   it's likely the user will want to change this depending on
@@ -66,10 +66,10 @@ void pid_setTunings(pid_t* p, float Kp, float Ki, float Kd, int POn);  // * Whil
                                                                       //   constructor, this function gives the user the option
                                                                       //   of changing tunings during runtime for Adaptive control
 
-void pid_setControllerDirection(pid_t* p, int Direction);  // * Sets the Direction, or "Action" of the controller. DIRECT
-                                                           //   means the output will increase when error is positive. REVERSE
-                                                          //   means the opposite.  it's very unlikely that this will be needed
-                                                          //   once it is set in the constructor.
+void pid_setDirection(pid_t* p, int Direction);  // * Sets the Direction, or "Action" of the controller. DIRECT
+                                                 //   means the output will increase when error is positive. REVERSE
+                                                 //   means the opposite.  it's very unlikely that this will be needed
+                                                 //   once it is set in the constructor.
 void pid_setSampleTime(pid_t* p, int NewSampleTime);  // * sets the frequency, in Milliseconds, with which 
                                                       //   the PID calculation is performed.  default is 100