Diff: PID2.h

Revision:

6:477382219bcf

Parent:

5:f1613df66ceb

Child:

9:cefa177c1353

--- a/PID2.h	Mon Mar 25 22:42:31 2019 +0000
+++ b/PID2.h	Tue Mar 26 16:19:47 2019 +0000
@@ -35,15 +35,15 @@
     if (currVal < inMin_) {inMin_ = currVal;}
     
     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)
@@ -55,6 +55,10 @@
     {
         if (inMin > inMax) {return;}
         
+        PrevErr = scaler(inMax_,inMin_,inMin,inMax,PrevErr);
+        PrevPrevErr = scaler(inMax_,inMin_,inMin,inMax,PrevPrevErr);
+        prevControlAction = scaler(inMax_,inMin_,inMin,inMax,prevControlAction);
+        
         inMin_ = inMin;
         inMax_ = inMax;
     }
@@ -77,6 +81,11 @@
         return   prevControlAction;
     }
     
+    float returnOutMax()
+    {
+        return *outMax_;
+    }
+    
 };
 
 //(((temp-inMin)/(inMax - inMin))*(outMax-outMin))+outMin
\ No newline at end of file