Ryosuke Matsushima / PID

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Dependents:   TUKUBAMotorDriver

Diff: PID.cpp

Revision:
1:e2fb92398c1f
Parent:
0:4b3a2875ad1d
Child:
2:0413525bbb2e
--- a/PID.cpp	Wed Dec 30 16:08:25 2020 +0000
+++ b/PID.cpp	Wed Dec 30 17:30:24 2020 +0000
@@ -19,9 +19,11 @@
     float dt = now_time - last_time;
     dt /= pow(10.0, 6.0);
 
-    val = val - target_val;
+    val = target_val - val;
     integral_val += (last_val * val) / 2 * dt;
     float d_val = (val - last_val) / dt;
+    last_time = now_time;
+    last_val = val;
 
     return _p * val+ _i * integral_val + _d * d_val;
 };