Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

Diff: meta/pidcontroller.cpp

Revision:
25:0003b824dd7d
Parent:
24:f1ff9c7256b5
--- a/meta/pidcontroller.cpp	Mon Mar 09 11:33:14 2015 +0000
+++ b/meta/pidcontroller.cpp	Tue Mar 10 17:47:08 2015 +0000
@@ -13,13 +13,18 @@
 
 float PidController::Update(float ref, float in) {
     float error = ref - in;
+
     _integral += error;
+    
     if (_integral * _ki > _out_max) _integral = _out_max / _ki;
     if (_integral * _ki < _out_min) _integral = _out_min / _ki;
+    
     float deriv = _last_in - in;
     _last_in = in;
     float tmp = _ki * _integral + _kp * error + _kd * deriv;
+    
     if (tmp > _out_max) tmp = _out_max;
     if (tmp < _out_min) tmp = _out_min;
+    
     return tmp;
 }
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