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Fix #9. Variables related to term I are not being updated when using setPID #10

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Fix #9. Variables related to term I are not being updated when using setPID #10

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11 changes: 7 additions & 4 deletions MiniPID.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,13 +111,16 @@ void MiniPID::setF(double f){
* @param d Derivative gain. Responds quickly to large changes in error. Small values prevents P and I terms from causing overshoot.
*/
void MiniPID::setPID(double p, double i, double d){
P=p;I=i;D=d;
checkSigns();
setP(p);
setI(i);
setD(d);
}

void MiniPID::setPID(double p, double i, double d,double f){
P=p;I=i;D=d;F=f;
checkSigns();
setP(p);
setI(i);
setD(d);
setF(f);
}

/**Set the maximum output value contributed by the I component of the system
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