inoue hirohumi / PID

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

Fork of PID by Aaron Berk

Files at this revision

API Documentation at this revision

Revision 2:9ed1cad69d52, committed 2014-12-01

Comitter:
iou16
Date:
Mon Dec 01 08:17:44 2014 +0000
Parent:
1:cc91f529df79
Commit message:
test

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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;
     }