Mercurial > mbsePi-apps / file comparison
comparison: brewco/pid.c
brewco/pid.c
- changeset 454
- 78242696c15a
- parent 448
- 7fe45f6e4f48
- child 473
- fdd30e935079
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| 453:76418c89b480 | 454:78242696c15a |
|---|---|
| 244 double output = pid->Kp * error + pid->ITerm - pid->Kd * dInput; | 244 double output = pid->Kp * error + pid->ITerm - pid->Kd * dInput; |
| 245 if (output > pid->outMax) | 245 if (output > pid->outMax) |
| 246 output = pid->outMax; | 246 output = pid->outMax; |
| 247 else if (output < pid->outMin) | 247 else if (output < pid->outMin) |
| 248 output = pid->outMin; | 248 output = pid->outMin; |
| 249 *pid->myOutput = output; | |
| 249 | 250 |
| 250 /* | 251 /* |
| 251 * Remember some variables for the next time | 252 * Remember some variables for the next time |
| 252 */ | 253 */ |
| 253 pid->lastInput = input; | 254 pid->lastInput = input; |
