From 359ba0c5f9f86aeceb9dc2cd40df0dc835306741 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anian=20B=C3=BChler?=
<anian.buehler@reutlingen-university.de>
Date: Wed, 24 Apr 2024 11:26:44 +0200
Subject: [PATCH] Fixed bug in pidBlock
---
.../ardublock/translator/block/operators/PidBlock.java | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/main/java/com/ardublock/translator/block/operators/PidBlock.java b/src/main/java/com/ardublock/translator/block/operators/PidBlock.java
index 8433fa7..3bc2443 100644
--- a/src/main/java/com/ardublock/translator/block/operators/PidBlock.java
+++ b/src/main/java/com/ardublock/translator/block/operators/PidBlock.java
@@ -73,15 +73,15 @@ public class PidBlock extends TranslatorBlock
+ " long error = setpoint - input; // get error\n"
+ " out = kp * error; //P output\n\n";
if(integrative) {
- functionCode +=" cumError = cumError + error; // compute integral\n";
+ functionCode +=" cumError = cumError + (error * intervalSecond); // compute integral\n";
if(limited) {
functionCode += " cumError = constrain(cumError, limitLow * 100.0, limitHigh * 100.0); //limit integral against windup\n";
}
- functionCode += " out = out + (ki * intervalSecond) * cumError; //I output\n\n";
+ functionCode += " out = out + (ki * cumError); //I output\n\n";
}
if(derivative) {
- functionCode +=" long rateError = error - lastError; // compute derivative\n"
- + " out = out - (kd / intervalSecond) * rateError; //D output\n\n";
+ functionCode +=" long rateError = (error - lastError) / intervalSecond; // compute derivative\n"
+ + " out = out + kd * rateError; //D output\n\n";
}
if(limited) {
functionCode +=" out = constrain(out, limitLow, limitHigh); //limit output\n\n";
--
GitLab