get set point
Fork of PID by
Diff: PID.cpp
- Revision:
- 1:f61c47297c2c
- Parent:
- 0:6e12a3e5af19
- Child:
- 2:ee6bcde54713
diff -r 6e12a3e5af19 -r f61c47297c2c PID.cpp --- a/PID.cpp Thu Sep 02 16:48:10 2010 +0000 +++ b/PID.cpp Wed Apr 20 21:27:43 2016 +0000 @@ -256,7 +256,8 @@ } //Perform the PID calculation. - controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas)); + //controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas)); + controllerOutput_ = scaledBias + Kc_ * error + (tauR_ * accError_) - (tauD_ * dMeas); //Make sure the computed output is within output constraints. if (controllerOutput_ < 0.0) {