Carbon Fibre / Classic_PID

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Diff: Classic_PID.cpp

Revision:
3:715c8245e671
Parent:
2:f78e083a20c4
Child:
4:7b42de70b65f
--- a/Classic_PID.cpp	Mon Jan 19 14:20:30 2015 +0000
+++ b/Classic_PID.cpp	Wed Feb 04 14:19:03 2015 +0000
@@ -33,7 +33,6 @@
     
     // Calculate the individual parts of the PID algorithm
     float Proportional = _Kp * (_error - _lastError);               // Calculate the Proportional part
-    //_sumError += _error;                                          // Add this error to the sum of errors 
     float Intergral = _Ki * _error;                                 // Calculate the Intergral part
     
     // Calculate the output
@@ -101,7 +100,7 @@
     float Intergral = _Ki * _sumError;                                 // Calculate the Intergral part
     
     // Calculate the output
-    _output = ((1 / _setPoint) * _kvelff) + Proportional + Intergral; 
+    _output = (_setPoint * _kvelff) + Proportional + Intergral + 0.005; 
         
     // Check for wind-up
     if(_output > _maxLimit)