Hi,

Tjaart van der Walt wrote:
>
> <GRIN> I optimised them according to Tjaart-Experiment!

:-)

>
> The resetting of I compensates (among other things) for
> the digital nature of the calculations. Running 16 bit
> PID values in a PIC is not feasible, so I pulled a few
> tricks out of the hat. Another, is to only accumulate
> the I value every 10-50 (settable) samples. Effectively
> this divides the I term which is always much smaller
> than the P or D terms.

I read once about this method, maybe you've already told
about it some time ago.

Also the number of samples/s and how often Y is recaluclated
is still a big issue - had some nice effects due to my PID
running faster then the inertia of the motor could follow.

Kind regards,

        Stefan