From ddd27a8704242999d672705539d957807693e32f Mon Sep 17 00:00:00 2001
From: ouazaryahia <ouazar.yahia@gmail.com>
Date: Tue, 10 Sep 2013 20:33:18 -0700
Subject: [PATCH] Update PID_v1.cpp

output = kp * error + ki*sumerror + kd * dInput;
---
 PID_v1/PID_v1.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/PID_v1/PID_v1.cpp b/PID_v1/PID_v1.cpp
index 6c95895..8e71ded 100644
--- a/PID_v1/PID_v1.cpp
+++ b/PID_v1/PID_v1.cpp
@@ -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;