Brewery/Arduino-PID-Library
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge ddd27a8704 into d21d7e3d09

Browse Source
This commit is contained in:
ouazaryahia 2013-09-10 20:33:28 -07:00
commit 1f158c9196
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
PID_v1/PID_v1.cpp
View File

@ -60,7 +60,7 @@ bool PID::Compute()
double dInput = (input - lastInput);
/*Compute PID Output*/
double output = kp * error + ITerm- kd * dInput;
double output = kp * error + ITerm + kd * dInput;
if(output > outMax) output = outMax;
else if(output < outMin) output = outMin;