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This commit is contained in:
Merrick 2019-11-21 14:54:40 -05:00
parent 095897e35a
commit 722622862c
14 changed files with 26471 additions and 26468 deletions
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12
Src/main.c
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@ -345,15 +345,15 @@ int computePID(double inp){
cumError += error * elapsedTime; // compute integral
rateError = (error - lastError)/elapsedTime; // compute derivative
double out;
if(cumError < 0){
cumError = 0; //Clamping
if(cumError < -0xFFFF/ki){
cumError = -0xFFFF/ki; //Clamping
}
if(cumError > 0xFFFF/ki){
cumError = 0xFFFF/ki;
out = 0xFFFF; //Clamping
}else{
out = kp*error + ki*cumError + kd*rateError;
cumError = 0xFFFF/ki; //Clamping
}
out = kp*error + ki*cumError + kd*rateError;
if(out < 0){
out = 0;
}