Yuta Togashi / PID

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependents:   Tourobo2022_TBCMotorDriver

Diff: Pid.cpp

Revision:
1:4bc4c63ea283
Parent:
0:630126b8994f
Child:
2:7fede27af6ca
diff -r 630126b8994f -r 4bc4c63ea283 Pid.cpp
--- a/Pid.cpp	Wed Dec 19 15:46:32 2018 +0000
+++ b/Pid.cpp	Sun Jun 09 01:35:07 2019 +0000
@@ -34,13 +34,17 @@
             break;
     }
     
-    if(duty > 0.95f) {
-        duty = 0.95f;
-    } else if (duty < -0.95f) {
-        duty = -0.95f;
+    if(duty > 1.0f) {
+        duty = 1.0f;
+    } else if (duty < -1.0f) {
+        duty = -1.0f;
     }
 };
 
+void Pid::reset() {
+    duty = 0.0f;   
+}
+
 float Pid::getDuty() {
     return duty;
 }