From 3afe34b95f9d84da69a4884c2c01e5f32d7edb5b Mon Sep 17 00:00:00 2001
From: topquark12 <aw@m-labs.hk>
Date: Sat, 26 Dec 2020 11:06:52 +0800
Subject: [PATCH] changes to error calculation, polarity of kP and kI will be
 flipped

---
 src/pid.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pid.rs b/src/pid.rs
index 996c538..503ad4c 100644
--- a/src/pid.rs
+++ b/src/pid.rs
@@ -60,7 +60,7 @@ impl Controller {
         let time_delta = time_delta.get::<second>();
 
         // error
-        let error = input - self.target;
+        let error = self.target - input;
 
         // proportional
         let p = f64::from(self.parameters.kp) * error;