From 39dfdfb7dc2576df255e3248a3c13d1974fc66c9 Mon Sep 17 00:00:00 2001
From: Marco D'Agostini <madacol10@gmail.com>
Date: Sun, 26 Aug 2018 10:22:45 -0500
Subject: [PATCH] outputSum is now capped after merging with output

---
 PID_v1.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/PID_v1.cpp b/PID_v1.cpp
index cb6637c..20601a3 100644
--- a/PID_v1.cpp
+++ b/PID_v1.cpp
@@ -71,9 +71,6 @@ bool PID::Compute()
       /*Add Proportional on Measurement, if P_ON_M is specified*/
       if(!pOnE) outputSum-= kp * dInput;
 
-      if(outputSum > outMax) outputSum= outMax;
-      else if(outputSum < outMin) outputSum= outMin;
-
       /*Add Proportional on Error, if P_ON_E is specified*/
 	   double output;
       if(pOnE) output = kp * error;
@@ -82,6 +79,9 @@ bool PID::Compute()
       /*Compute Rest of PID Output*/
       output += outputSum - kd * dInput;
 
+      if(outputSum > outMax) outputSum= outMax;
+      else if(outputSum < outMin) outputSum= outMin;
+
 	    if(output > outMax) output = outMax;
       else if(output < outMin) output = outMin;
 	    *myOutput = output;