Diff: PID/PID.cpp

Revision:

58:0ef7bb34fe29

Parent:

57:43f707648f2b

Child:

60:20945383ad1b

diff -r 43f707648f2b -r 0ef7bb34fe29 PID/PID.cpp
--- a/PID/PID.cpp	Mon Oct 12 11:46:47 2015 +0200
+++ b/PID/PID.cpp	Mon Oct 12 11:52:47 2015 +0200
@@ -35,8 +35,8 @@
 		error = *mySetpoint - input;  // get error for proportional
 		ITerm += (ki*error);  // Error for integral (with ki included)
 		// check for integrator windup
-		if(errSum> outMax) errSum=outMax;
-		else if(errSum<outMin) errSum=outMin;
+		if(ITerm> outMax) ITerm=outMax;
+		else if(ITerm<outMin) ITerm=outMin;
 		dErr = (error - lastErr); // get error for derivative
 		// (could still be tuned for derivative kick)
 
@@ -80,8 +80,8 @@
 		if(*myOutput > outMax) *myOutput = outMax;
 		else if(*myOutput < outMin) *myOutput = outMin;
 	
-		if(errSum > outMax) errSum= outMax;
-		else if(errSum < outMin) errSum= outMin;
+		if(ITerm > outMax) ITerm= outMax;
+		else if(ITerm < outMin) ITerm= outMin;
 	}
 }
 
@@ -98,7 +98,7 @@
 	lastInput = *myInput;
 	ITerm = *myOutput;
 	lastErr = 0;
-	if(errSum> outMax) errSum=outMax;
-	else if(errSum<outMin) errSum=outMin;
+	if(ITerm> outMax) ITerm=outMax;
+	else if(ITerm<outMin) ITerm=outMin;
 }
 	
\ No newline at end of file