Buggy bois / Mbed 2 deprecated HEATS_1

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Dependencies:   mbed

Diff: PID.h

Revision:
6:477382219bcf
Parent:
5:f1613df66ceb
Child:
8:5ed6685f6edd
--- a/PID.h	Mon Mar 25 22:42:31 2019 +0000
+++ b/PID.h	Tue Mar 26 16:19:47 2019 +0000
@@ -37,15 +37,15 @@
     
     
     controlAction = prevControlAction - (PrevErr*Kp_) + (Kp_*currErr)+ (Ki_*Ts*currErr) + ((Kd_/Ts)*(currErr - PrevErr - PrevErr + PrevPrevErr));
-    
-    if (controlAction > *inMax_) {controlAction = *inMax_;}
-    if (controlAction < *inMin_) {controlAction = *inMin_;} 
    
     prevControlAction = controlAction;
     PrevPrevErr = PrevErr;
     PrevErr = currErr;
     //scale the control Action to the correct output limits and output
-    return ((((controlAction)- *inMin_)/(*inMax_ - *inMin_)) * (outMax_ - outMin_)) + outMin_;
+    controlAction = ((((controlAction)- *inMin_)/(*inMax_ - *inMin_)) * (outMax_ - outMin_)) + outMin_;
+
+    if (controlAction > outMax_) {return outMax_;} else if (controlAction < outMin_) {return outMin_;} else {return controlAction;}
+    
     }
     
     void setSetPoint(float _sP)