Diff: PID/PID.cpp

Revision:

57:43f707648f2b

Parent:

55:ee5257fb73df

Child:

58:0ef7bb34fe29

--- a/PID/PID.cpp	Fri Oct 09 13:06:14 2015 +0000
+++ b/PID/PID.cpp	Mon Oct 12 11:46:47 2015 +0200
@@ -33,7 +33,7 @@
 //	if(timeChange <=SampleTime){ 
 		float input = *myInput;
 		error = *mySetpoint - input;  // get error for proportional
-		errSum += error;  // Error for integral
+		ITerm += (ki*error);  // Error for integral (with ki included)
 		// check for integrator windup
 		if(errSum> outMax) errSum=outMax;
 		else if(errSum<outMin) errSum=outMin;
@@ -41,7 +41,7 @@
 		// (could still be tuned for derivative kick)
 
 		// compute PID output
-		float output  = kp * error + ki * errSum + kd * dErr;
+		float output  = kp * error + ITerm + kd * dErr;
 		// make sure output is allso within min/max
 		if(output> outMax) output=outMax;
 		else if(output<outMin) output=outMin;
@@ -96,13 +96,9 @@
 
 void PID::Initialize(){
 	lastInput = *myInput;
-	errSum = *myOutput;
+	ITerm = *myOutput;
 	lastErr = 0;
 	if(errSum> outMax) errSum=outMax;
 	else if(errSum<outMin) errSum=outMin;
 }
-
-float PID::getOutput(){
-	return output;
-	}
 	
\ No newline at end of file