Brewery/Arduino-PID-Library
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Merge ddd27a8704 into d21d7e3d09

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ouazaryahia 2013-09-10 20:33:28 -07:00
commit 1f158c9196
1 changed files with 1 additions and 1 deletions
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PID_v1/PID_v1.cpp
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@ -60,7 +60,7 @@ bool PID::Compute()
double dInput = (input - lastInput); double dInput = (input - lastInput);
/*Compute PID Output*/ /*Compute PID Output*/
double output = kp * error + ITerm- kd * dInput; double output = kp * error + ITerm + kd * dInput;
if(output > outMax) output = outMax; if(output > outMax) output = outMax;
else if(output < outMin) output = outMin; else if(output < outMin) output = outMin;