4 months ago.
PID - LPC1768
From the PID.h file from Aaron Berk, I could not understand the mathematical statement below;
controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas));
Why we subtract the last term? Do not we need to sum all terms(P+I+D)?
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