From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Tue, 17 Dec 2019 13:14:10 +0000 (+0100)
Subject: pid derviative term
X-Git-Url: http://git.leonardobizzoni.com/?a=commitdiff_plain;h=e51a2c36fe7d82dfdfb9bcccfcf3ead909bcd430;p=pioneer-stm32

pid derviative term
---

diff --git a/otto_controller_source/Core/Inc/pid.h b/otto_controller_source/Core/Inc/pid.h
index 2a43454..39649d6 100644
--- a/otto_controller_source/Core/Inc/pid.h
+++ b/otto_controller_source/Core/Inc/pid.h
@@ -50,7 +50,6 @@ class Pid {
     float output = this->error_ * this->kp_;
 
     //integral term
-
     if (this->error_sum_index_ == 10) {
       this->error_sum_array_[0] = this->error_;
       this->error_sum_index_ = 0;
@@ -67,7 +66,9 @@ class Pid {
 
     output += error_sum * this->ki_;
 
-    //TODO derivative term
+    //derivative term
+    output += (this->error_ - this->previous_error_);
+    this->previous_error_ = this->error_;
 
     int integer_output = (int) output;