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Arduino-PID-Library
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in the Compute() function, timeChange is now declared as "unsigned long" 

formerly, if left in manual mode for a long time (e.g. during an autotune,)
 the "int" timeChange would wrap causeing the PID not to calculate for an
unacceptable period of time.
This commit is contained in:
Brett Beauregard 2011-12-18 08:28:52 -05:00
parent 98d2779e18
commit 20199df217
1 changed files with 1 additions and 1 deletions
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2
PID_v1/PID_v1.cpp
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@ -46,7 +46,7 @@ void PID::Compute()
{ {
if(!inAuto) return; if(!inAuto) return;
unsigned long now = millis(); unsigned long now = millis();
int timeChange = (now - lastTime); unsigned long timeChange = (now - lastTime);
if(timeChange>=SampleTime) if(timeChange>=SampleTime)
{ {
/*Compute all the working error variables*/ /*Compute all the working error variables*/