Ryosuke Matsushima / PID

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Dependents:   TUKUBAMotorDriver

Diff: PID.cpp

Revision:
2:0413525bbb2e
Parent:
1:e2fb92398c1f
diff -r e2fb92398c1f -r 0413525bbb2e PID.cpp
--- a/PID.cpp	Wed Dec 30 17:30:24 2020 +0000
+++ b/PID.cpp	Sun Jan 17 02:06:07 2021 +0000
@@ -20,12 +20,19 @@
     dt /= pow(10.0, 6.0);
 
     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;
+//// normal PID
+//    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;
+
+//// original
+    if(abs(integral_val) < 50 || integral_val * val < 0) {
+        integral_val += val * _p;
+    }
+    return integral_val;
 };
 
 void PID::set_target(float val) {