Diff: PID.cpp

Revision:

1:b738a8164729

Parent:

0:6e12a3e5af19

--- a/PID.cpp	Thu Sep 02 16:48:10 2010 +0000
+++ b/PID.cpp	Wed Dec 25 09:00:32 2019 +0000
@@ -57,8 +57,8 @@
     //Default the limits to the full range of I/O: 3.3V
     //Make sure to set these to more appropriate limits for
     //your application.
-    setInputLimits(0.0, 3.3);
-    setOutputLimits(0.0, 3.3);
+    setInputLimits(20, 90.0);
+    setOutputLimits(-1, 1);
 
     tSample_ = interval;
 
@@ -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;
     }