Merge pull request #1 from emersion/patch-1

Adds reset() method

Author: Philmod

lib/index.js

@@ -28,4 +28,10 @@ Controller.prototype.update = function(current_value) {
   return (this.k_p*error) + (this.k_i * this.sumError) + (this.k_d * dError);
 };
 
-module.exports = Controller;
+Controller.prototype.reset = function() {
+  this.sumError  = 0;
+  this.lastError = 0;
+  this.lastTime  = 0;
+};
+
+module.exports = Controller;

test/index.js

@@ -37,5 +37,12 @@ describe('pid-controller', function(){
     var correction = ctr.update(vt);
     correction.should.equal(8);
   });
+  
+  it('should reset the controller', function(){
+    ctr.reset();
+    ctr.sumError.should.equal(0);
+    ctr.lastError.should.equal(0);
+    ctr.lastTime.should.equal(0);
+  });
 
 });