Pid

```
public class Pid

                    
```
PID calculation algorithm.

Constructor Summary

Constructors
Constructor	Description
`Pid(String name, PidParams params, ITelemetryLogger logger)`	Constructs a new instance of the PID algorithm class.

Method Summary

Modifier and Type	Method	Description
`void`	`reset()`	Rest the current PID state.
`double`	`calculateOutput(double setValue, double presentValue, double elapsedMilliseconds)`	Calculates the desired output based on current error.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - Pid
```
Pid(String name, PidParams params, ITelemetryLogger logger)
```
    Constructs a new instance of the PID algorithm class.
    
    Parameters:
    
    params - initialization parameters.
- Method Detail
  - reset
```
 void reset()
```
    Rest the current PID state.
  - calculateOutput
```
 double calculateOutput(double setValue, double presentValue, double elapsedMilliseconds)
```
    Calculates the desired output based on current error.
    
    Parameters:
    
    setValue - desired output value.
    
    presentValue - current output value.
    
    elapsedMilliseconds - milliseconds elapsed since last calculation.