Greg Abdo / PID

Problems with motor #2

Dependents:   quadCommand2

Fork of PID by Derek McLean

Files at this revision

API Documentation at this revision

Revision 2:b214010a0c1b, committed 2013-07-02

Comitter:
gabdo
Date:
Tue Jul 02 21:03:30 2013 +0000
Parent:
1:01f3ec7bd956
Child:
3:8172f254dff4
Commit message:
Problems with motor #2

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/PID.cpp	Sat Jun 08 19:31:29 2013 +0000
+++ b/PID.cpp	Tue Jul 02 21:03:30 2013 +0000
@@ -31,10 +31,10 @@
     float proportionalControl, integralControl, derivativeControl;
 
     // How far away we are from the target
-    currentError = targetPosition - currentPosition;
+    currentError += targetPosition - currentPosition;
 
     // Sum of the errors the controller has incurred over time
-    integralError += currentError * dt;
+    integralError = currentError * dt;
     // Cap the sum of errors to prevent excessive correction
     if (integralError < -windupGainGuard) {
         integralError = -windupGainGuard;