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Update PID_v1.cpp #114

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Update PID_v1.cpp #114

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3 changes: 1 addition & 2 deletions PID_v1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,9 +75,8 @@ bool PID::Compute()
else if(outputSum < outMin) outputSum= outMin;

/*Add Proportional on Error, if P_ON_E is specified*/
double output;
double output = 0;
if(pOnE) output = kp * error;
else output = 0;

/*Compute Rest of PID Output*/
output += outputSum - kd * dInput;
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