integral windup limit

2024-10-24 13:03:12 -04:00 · 2024-10-24 13:03:12 -04:00 · d1ee6baccf
commit d1ee6baccf
parent be7060bc16
1 changed files with 5 additions and 0 deletions
--- a/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
+++ b/lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
@ -125,6 +125,11 @@ protected:

            sumError += error; 

+            float maxSumError = maxEffort/Ki;
+
+            sumError = max(sumError, -maxSumError);
+            sumError = min(sumError, maxSumError);
+
            float errorDiff = error - prevError;

            prevError = error;