N K / Mbed 2 deprecated analoghalls5_5

working-est copy with class-based code. still open loop

Dependencies:   mbed

Fork of analoghalls6 by N K

Diff: pidcontroller.cpp

Revision:
10:b4abecccec7a
Parent:
9:d3b70c15baa9
--- a/pidcontroller.cpp	Fri Mar 06 19:12:53 2015 +0000
+++ b/pidcontroller.cpp	Sun Mar 08 00:45:28 2015 +0000
@@ -11,9 +11,10 @@
     _out_min = out_min;
 }
 
-float PidController::Update(float ref, float in) {
-    float error = in - ref;
-    _integral += error;
+float PidController::Update(float ref, float in) {  //starts positive, integrator is adding up the error to get there.  cranking throttle makes it go negative.  that makes sense.
+    float error = ref - in;
+    //_integral += error;
+    _integral = 0.0f;
     if (_integral*_ki > _out_max) _integral = _out_max/_ki;
     if (_integral*_ki < _out_min) _integral = _out_min/_ki;
     float deriv = _last_in - in;