tarou yamada / PID_

　

Dependents:   YMotor

Fork of PID by tarou yamada

Diff: PID_impl.hpp

Revision:
3:b28b34b89120
Parent:
2:73618cad4762
Child:
4:ed6aea0299df
--- a/PID_impl.hpp	Thu Feb 25 16:22:59 2016 +0000
+++ b/PID_impl.hpp	Fri Feb 26 16:54:27 2016 +0000
@@ -14,9 +14,7 @@
 template <typename T, typename K>
 inline T PID<T, K>::update(T error) {
     // P制御(比例)
-    //T mv = static_cast<T>(kp_ * error);
-    T mv;
-    mv += kp_ * error;
+    T mv = kp_ * error;
     
     // I制御(積分)
     mv += ki_ * error;