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

Update PID_v1.cpp

Browse Source 
I put the start sample time  at is beginning not after the calculus.
Taking account the calcul past time and other...
This commit is contained in:
LaurentDelaon 2019-07-31 10:28:41 +02:00 committed by GitHub
parent 9b4ca0e5b6
commit 6cda038e59
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
PID_v1.cpp
View File

@ -62,6 +62,8 @@ bool PID::Compute()
unsigned long timeChange = (now - lastTime); unsigned long timeChange = (now - lastTime);
if(timeChange>=SampleTime) if(timeChange>=SampleTime)
{ {
// take the start sample time
lastTime = now;
/*Compute all the working error variables*/ /*Compute all the working error variables*/
double input = *myInput; double input = *myInput;
double error = *mySetpoint - input; double error = *mySetpoint - input;
@ -88,7 +90,7 @@ bool PID::Compute()
/*Remember some variables for next time*/ /*Remember some variables for next time*/
lastInput = input; lastInput = input;
lastTime = now;
return true; return true;
} }
else return false; else return false;