From af8bbe975a4d30aa6a9647886c55120dd2a9722d Mon Sep 17 00:00:00 2001 From: k4b3z4 Date: Tue, 19 Oct 2021 21:02:53 -0300 Subject: [PATCH] Fix parenthesis --- AutoPID.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/AutoPID.cpp b/AutoPID.cpp index 64a5f49..963dcd4 100644 --- a/AutoPID.cpp +++ b/AutoPID.cpp @@ -59,7 +59,7 @@ void AutoPID::run() { double _error = *_setpoint - *_input; _integral += (_error + _previousError) / 2 * _dT / 1000.0; //Riemann sum integral //_integral = constrain(_integral, _outputMin/_Ki, _outputMax/_Ki); - double _dError = (_error - _previousError) / _dT / 1000.0; //derivative + double _dError = (_error - _previousError) / (_dT / 1000.0); //derivative _previousError = _error; double PID = (_Kp * _error) + (_Ki * _integral) + (_Kd * _dError); //*_output = _outputMin + (constrain(PID, 0, 1) * (_outputMax - _outputMin));