PID
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Diff: PID.cpp
- Revision:
- 2:f8864ce26cd8
- Parent:
- 1:4df4895863cd
- Child:
- 3:dccd51230bf5
diff -r 4df4895863cd -r f8864ce26cd8 PID.cpp --- a/PID.cpp Fri Apr 22 09:38:38 2016 +0000 +++ b/PID.cpp Tue Nov 21 05:55:11 2017 +0000 @@ -9,6 +9,7 @@ error[1] = 0.0; error[2] = 0.0; output = 0.0; +// pidOutput = 0.0; reference = 0.0; sampletime = 0.0; Outputlimit_bool = false; @@ -59,7 +60,8 @@ feedbackvalue = setfeedbackvalue; error[0] = reference - feedbackvalue; - output = output + ( Kp + Ki + Kd )*error[0] + ( -Kp - 2.0*Kd )*error[1] + Kd*error[2]; +// pidOutput = ( Kp + Ki + Kd )*error[0] + ( -Kp - 2.0f*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];