David Spillman / PID

Fixed some mathematical issues

Dependents:   GPSNavigationNew

Fork of PID by Aaron Berk

Diff: PID.cpp

Revision:
4:b7326da8243b
Parent:
3:e3ef24ca1fd1
Child:
5:61d47c7736b5
--- a/PID.cpp	Tue Apr 07 03:49:47 2015 +0000
+++ b/PID.cpp	Mon Apr 27 16:48:55 2015 +0000
@@ -149,10 +149,8 @@
     //Compute the current slope of the input signal.
     float dMeas = (processVariable_ - prevProcessVariable_) / tSample_;
 
-    float scaledBias = 0.0f;
-
     //Perform the PID calculation.
-    controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas));
+    controllerOutput_ = Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas));
     
     controllerOutput_ = ((outMax_ - outMin_) * ((Kc_ * controllerOutput_) - inMin_)) / (inMax_ - inMin_) + outMin_;