Brewery/Arduino-PID-Library
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Update PID_v1.cpp

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output = kp * error + ki*sumerror + kd * dInput;
This commit is contained in:
ouazaryahia 2013-09-10 20:33:18 -07:00
parent d21d7e3d09
commit ddd27a8704
1 changed files with 1 additions and 1 deletions
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2
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;