inoue hirohumi / PID

Proportional, integral, derivative controller library. Ported from the Arduino PID library by Brett Beauregard.

Fork of PID by Aaron Berk

Diff: PID.cpp

Revision:
2:9ed1cad69d52
Parent:
1:cc91f529df79
diff -r cc91f529df79 -r 9ed1cad69d52 PID.cpp
--- a/PID.cpp	Sun Nov 30 18:40:15 2014 +0000
+++ b/PID.cpp	Mon Dec 01 08:17:44 2014 +0000
@@ -259,8 +259,8 @@
     controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas));
 
     //Make sure the computed output is within output constraints.
-    if (controllerOutput_ < 0.0) {
-        controllerOutput_ = 0.0;
+    if (controllerOutput_ < -1.0) {
+        controllerOutput_ = -1.0;
     } else if (controllerOutput_ > 1.0) {
         controllerOutput_ = 1.0;
     }