LI SU / PID

ROS_FINGER

Fork of PID by LDSC_Robotics_TAs

Files at this revision

API Documentation at this revision

Revision 2:d1b781222f88, committed 2018-08-22

Comitter:
noname001
Date:
Wed Aug 22 08:09:53 2018 +0000
Parent:
1:4df4895863cd
Commit message:
ROS

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/PID.cpp	Fri Apr 22 09:38:38 2016 +0000
+++ b/PID.cpp	Wed Aug 22 08:09:53 2018 +0000
@@ -59,7 +59,7 @@
     feedbackvalue = setfeedbackvalue;
     
     error[0] = reference - feedbackvalue;
-    output = output + ( Kp + Ki + Kd )*error[0] + ( -Kp - 2.0*Kd )*error[1] + Kd*error[2];
+    output = output + ( Kp + Ki + Kd )*error[0] + ( -Kp - 2.0f*Kd )*error[1] + Kd*error[2];
     error[2] = error[1];
     error[1] = error[0];