Numero Uno / PID

library to perform velocity PID control

Dependents:   PID_VelocityExample TheProgram

Fork of PID by Aaron Berk

Files at this revision

API Documentation at this revision

Revision 5:15998473cc64, committed 2015-10-06

Comitter:
ewoud
Date:
Tue Oct 06 14:20:57 2015 +0000
Parent:
3:54068e076b84
Commit message:
updated deadzone function

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 54068e076b84 -r 15998473cc64 PID.cpp
--- a/PID.cpp	Tue Oct 06 10:50:31 2015 +0000
+++ b/PID.cpp	Tue Oct 06 14:20:57 2015 +0000
@@ -281,9 +281,6 @@
         else if (controllerOutputSum_ > 0){
             controllerOutput_ = scaledDeadzoneTop;
         }
-        else {
-            controllerOutput_ = (scaledDeadzoneBottom+scaledDeadzoneTop)/2; 
-        }
     }
     //Make sure the computed output is within output constraints.
     if (controllerOutput_ < 0) {