N K / Mbed 2 deprecated analoghalls5_5

working-est copy with class-based code. still open loop

Dependencies:   mbed

Fork of analoghalls6 by N K

Diff: pidcontroller.cpp

Revision:
9:d3b70c15baa9
Parent:
1:1f58bdcf2956
Child:
10:b4abecccec7a
--- a/pidcontroller.cpp	Wed Mar 04 15:33:32 2015 +0000
+++ b/pidcontroller.cpp	Fri Mar 06 19:12:53 2015 +0000
@@ -12,10 +12,10 @@
 }
 
 float PidController::Update(float ref, float in) {
-    float error = ref - in;
+    float error = in - ref;
     _integral += error;
-    if (_integral > _out_max) _integral = _out_max;
-    if (_integral < _out_min) _integral = _out_min;
+    if (_integral*_ki > _out_max) _integral = _out_max/_ki;
+    if (_integral*_ki < _out_min) _integral = _out_min/_ki;
     float deriv = _last_in - in;
     _last_in = in;
     float tmp = _ki * _integral + _kp * error + _kd * deriv;