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made I term return in same pattern as D term

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Jason Short 2012-02-16 22:09:14 -08:00
parent 75919436ac
commit 560985b509
1 changed files with 4 additions and 4 deletions
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8
libraries/AC_PID/AC_PID.cpp
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@ -28,8 +28,9 @@ int32_t AC_PID::get_i(int32_t error, float dt)
} else if (_integrator > _imax) { } else if (_integrator > _imax) {
_integrator = _imax; _integrator = _imax;
} }
}
return _integrator; return _integrator;
}
return 0;
} }
int32_t AC_PID::get_d(int32_t input, float dt) int32_t AC_PID::get_d(int32_t input, float dt)
@ -73,8 +74,7 @@ int32_t AC_PID::get_pid(int32_t error, float dt)
// Compute derivative component if time has elapsed // Compute derivative component if time has elapsed
if ((fabs(_kd) > 0) && (dt > 0)) { if ((fabs(_kd) > 0) && (dt > 0)) {
_derivative = (error - _last_error) / dt;
_derivative = (error - _last_input) / dt;
// discrete low pass filter, cuts out the // discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy // high frequency noise that can drive the controller crazy
@ -82,7 +82,7 @@ int32_t AC_PID::get_pid(int32_t error, float dt)
(dt / ( _filter + dt)) * (_derivative - _last_derivative); (dt / ( _filter + dt)) * (_derivative - _last_derivative);
// update state // update state
_last_input = error; _last_error = error;
_last_derivative = _derivative; _last_derivative = _derivative;
// add in derivative component // add in derivative component