tarou yamada / PID_

　

Dependents:   YMotor

Fork of PID by tarou yamada

Diff: PID_impl.hpp

Revision:
5:82bc9c845760
Parent:
4:ed6aea0299df
Child:
6:4427687e6dbe
--- a/PID_impl.hpp	Thu Mar 03 02:46:17 2016 +0000
+++ b/PID_impl.hpp	Thu Mar 03 02:50:11 2016 +0000
@@ -19,12 +19,11 @@
     T mv = kp_ * error;
     
     // I制御(積分)
-    mv += ki_ * error;
+    mv += ki_ * integral_;
     integral_ += error;
     
     // D制御(微分)
     mv += kd_ * (error - prev_error_);
-    
     prev_error_ = error;
     
     return mv;