/** Constructor. */
public PI(String name) {
p = new PIParameters();
p.K = 1;
p.Ti = 0;
p.Tr = 10;
p.Beta = 1;
p.H = 0.1;
p.integratorOn = false;
this.setParameters(p);
I = 0;
error = 0;
v = 0;
}
/** Updates the parameters of the controller. */
public synchronized void setParameters(PIParameters newParameters) {
p = (PIParameters) newParameters.clone();
if (!p.integratorOn) I = 0;
}
