61 lines
1.1 KiB
C#
61 lines
1.1 KiB
C#
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using UnityEngine;
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public class FloatPID : MonoBehaviour
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{
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[Tooltip("PID Constants.")]
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public Vector3 PID = new Vector3(1f, 0f, 0f);
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public float gain = 1f;
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[Tooltip("The value we are currently at.")]
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[HideInInspector]
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public float inputFloat;
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[HideInInspector]
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[Tooltip("The value we want to be at.")]
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public float targetFloat;
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[Tooltip("Value output from PID controller; what we read.")]
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[HideInInspector]
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public float outputFloat;
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public float timeBetweenUpdates;
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private float timer;
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private float errorSum;
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private float deltaError;
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private float lastError;
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private float lastTimer;
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public bool automaticallyUpdate;
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private void Start()
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{
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}
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private void FixedUpdate()
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{
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timer += Time.fixedDeltaTime;
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if (automaticallyUpdate && timer > timeBetweenUpdates)
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{
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timer -= timeBetweenUpdates;
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outputFloat = UpdatePID();
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}
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}
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public float UpdatePID()
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{
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float num = timer - lastTimer;
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lastTimer = timer;
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float num2 = targetFloat - inputFloat;
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errorSum += num2 * num;
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deltaError = (num2 - lastError) / num;
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lastError = num2;
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return (num2 * PID.x + errorSum * PID.y + deltaError * PID.z) * gain;
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}
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}
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