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Update PID_v1.cpp #96

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Update PID_v1.cpp #96

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4 changes: 3 additions & 1 deletion PID_v1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,8 @@ bool PID::Compute()
unsigned long timeChange = (now - lastTime);
if(timeChange>=SampleTime)
{
// take the start sample time
lastTime = now;
/*Compute all the working error variables*/
double input = *myInput;
double error = *mySetpoint - input;
Expand All @@ -88,7 +90,7 @@ bool PID::Compute()

/*Remember some variables for next time*/
lastInput = input;
lastTime = now;

return true;
}
else return false;
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