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Merged two "ifs" into one #85

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Merged two "ifs" into one #85

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18 changes: 10 additions & 8 deletions PID_v1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,21 +66,23 @@ bool PID::Compute()
double input = *myInput;
double error = *mySetpoint - input;
double dInput = (input - lastInput);
double output;

/*Compute integral*/
outputSum+= (ki * error);

/*Add Proportional on Measurement, if P_ON_M is specified*/
if(!pOnE) outputSum-= kp * dInput;
/*Compute proportional*/
if(pOnE) output = kp * error;
else { outputSum -= kp * dInput; output = 0; }

if(outputSum > outMax) outputSum= outMax;
else if(outputSum < outMin) outputSum= outMin;

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

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

if(output > outMax) output = outMax;
else if(output < outMin) output = outMin;
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