RT2_Cuboid_demo / Mbed 2 deprecated nucf446-cuboid-balance1_strong

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Dependencies:   mbed

Diff: PI_Cntrl.cpp

Revision:
5:d6c7ccbbce78
Parent:
0:15be70d21d7c
Child:
8:d68e177e2571
--- a/PI_Cntrl.cpp	Thu Mar 01 13:48:32 2018 +0000
+++ b/PI_Cntrl.cpp	Fri Mar 09 12:53:45 2018 +0000
@@ -29,8 +29,9 @@
 
 float PI_Cntrl::doStep(float error){
     float kpe = Kp * error;
-    float i_part = 1.0f/Tn * Ts * (kpe-del) + i_part_old;  // I with windup subtraction
-    float y_out_temp = (kpe + i_part_old );               // temporary variable
+    float i_part = Ts/Tn*(kpe-1.0f*del) + i_part_old; // I with windup subtraction
+    i_part_old = i_part; 
+    float y_out_temp = (kpe + i_part);                   // unconstrained output
     float y_out;
     // -------- limit output --------
     if(y_out_temp > out_max)
@@ -42,6 +43,6 @@
     // -------- Anti-Windup -------- 
     del = (y_out_temp - y_out);
     // -------- Timeshift --------
-    i_part_old = i_part;
+    
     return y_out;
     }
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