Code: Select all
Ki = ((((long) error * looptime) / (long)pid_divider) * (long)set_Ki);
Code: Select all
overall_error += error;
if (overall_error > integral_limit)
overall_error = integral_limit;
Ki = overall_error * set_Ki;
Moderators: jsmcortina, muythaibxr
Code: Select all
Ki = ((((long) error * looptime) / (long)pid_divider) * (long)set_Ki);
Code: Select all
overall_error += error;
if (overall_error > integral_limit)
overall_error = integral_limit;
Ki = overall_error * set_Ki;