David Spillman / PID

Fixed some mathematical issues

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Fork of PID by Aaron Berk

Files at this revision

API Documentation at this revision

Revision 5:61d47c7736b5, committed 2015-04-29

Comitter:
Spilly
Date:
Wed Apr 29 18:07:24 2015 +0000
Parent:
4:b7326da8243b
Commit message:
Updated commits

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r b7326da8243b -r 61d47c7736b5 PID.cpp
--- a/PID.cpp	Mon Apr 27 16:48:55 2015 +0000
+++ b/PID.cpp	Wed Apr 29 18:07:24 2015 +0000
@@ -152,6 +152,7 @@
     //Perform the PID calculation.
     controllerOutput_ = Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas));
     
+    //scale PID output based on user provided input and output restraints
     controllerOutput_ = ((outMax_ - outMin_) * ((Kc_ * controllerOutput_) - inMin_)) / (inMax_ - inMin_) + outMin_;
     
     //Make sure the computed output is within output constraints.