This commit is contained in:
Isaac Rodman
2021-08-03 18:05:16 -07:00
committed by GitHub

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@ -75,9 +75,8 @@ bool PID::Compute()
else if(outputSum < outMin) outputSum= outMin; else if(outputSum < outMin) outputSum= outMin;
/*Add Proportional on Error, if P_ON_E is specified*/ /*Add Proportional on Error, if P_ON_E is specified*/
double output; double output = 0;
if(pOnE) output = kp * error; if(pOnE) output = kp * error;
else output = 0;
/*Compute Rest of PID Output*/ /*Compute Rest of PID Output*/
output += outputSum - kd * dInput; output += outputSum - kd * dInput;