Commit 78673a3d authored by Jan Koniarik's avatar Jan Koniarik
Browse files

reformatted pid.h

parent cac1cf3d
......@@ -79,8 +79,8 @@ class pid {
i_term_ = clamp(i_term_, conf_.min, conf_.max);
float input_diff = (input - last_input_) / t_diff;
output_ = conf_.p * error + i_term_ - conf_.d * input_diff;
output_ = clamp(output_, conf_.min, conf_.max);
output_ = conf_.p * error + i_term_ - conf_.d * input_diff;
output_ = clamp(output_, conf_.min, conf_.max);
last_input_ = input;
last_time_ = now;
......
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