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integral windup limit

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This commit is contained in:
Andy Killorin 2024-10-24 13:03:12 -04:00
parent be7060bc16
commit d1ee6baccf
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 5 additions and 0 deletions
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5
lib/Romi32U4Motors/src/Romi32U4MotorTemplate.h
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@ -125,6 +125,11 @@ protected:
sumError += error; sumError += error;
float maxSumError = maxEffort/Ki;
sumError = max(sumError, -maxSumError);
sumError = min(sumError, maxSumError);
float errorDiff = error - prevError; float errorDiff = error - prevError;
prevError = error; prevError = error;