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fix formatting

This commit is contained in:
topquark12 2020-12-26 11:25:05 +08:00
parent 3e859ecafb
commit a632fc3a8e
1 changed files with 2 additions and 3 deletions
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5
src/pid.rs
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@ -66,9 +66,8 @@ impl Controller {
let p = f64::from(self.parameters.kp) * error; let p = f64::from(self.parameters.kp) * error;
// integral // integral
if let Some(last_output_val) = self.last_output if let Some(last_output_val) = self.last_output {
{ // anti integral windup
//anti integral windup
if last_output_val < self.parameters.output_max.into() && last_output_val > self.parameters.output_min.into() if last_output_val < self.parameters.output_max.into() && last_output_val > self.parameters.output_min.into()
{ {
self.integral += error * time_delta; self.integral += error * time_delta;