Minor cleanup

Author: Dlloydev

QuickPID.cpp

@@ -67,14 +67,12 @@ bool QuickPID::Compute()
     int32_t dInput = (int32_t)input - (int32_t)lastInput;
 
     /*  outputSum+= (ki * error);  */
-    //outputSum += (ki * error);
     if (ki < 31) outputSum += FX_INT(FX_MUL(FL_FX(ki), INT_FX(error)));
     else outputSum += FX_INT(FX_MUL(FL__FX(ki), INT_FX(error)));
 
     /*Add Proportional on Measurement, if P_ON_M is specified*/
     /*  outputSum -= kp * dInput;  */
     if (!pOnE) {
-      //outputSum -= kp * dInput;
       if (kp < 31) outputSum -= FX_INT(FX_MUL(FL_FX(kp), INT_FX(dInput)));
       else outputSum -= FX_INT(FX_MUL(FL__FX(kp), INT_FX(dInput)));
     }
@@ -86,15 +84,13 @@ bool QuickPID::Compute()
     /*  if (pOnE) output = (kp * (float)error);  */
     uint16_t output;
     if (pOnE) {
-      //output = (kp * (float)error);
       if (kp < 31) output = FX_INT(FX_MUL(FL_FX(kp), INT_FX(error)));
       else  output = FX_INT(FX_MUL(FL__FX(kp), INT_FX(error)));
     }
     else output = 0;
 
     /*Compute Rest of PID output*/
     /*  output += outputSum - (kd * dInput);  */
-    //output += outputSum - (kd * dInput);
     output += outputSum - FX_INT(FX_MUL(FL_FX(kd), INT_FX(dInput)));
 
     if (output > outMax) output = outMax;
@@ -248,7 +244,7 @@ bool QuickPID::GetDirection() {
   return controllerDirection;
 }
 
-// Utility functions ********************************************************************************
+// Utility functions **********************************************************
 
 int QuickPID::analogReadFast(int ADCpin) {
 #if defined(__AVR_ATmega328P__)

README.md

@@ -11,19 +11,19 @@ The API follows the [ArduinoPID](https://github.com/br3ttb/Arduino-PID-Library)
 
 PID performance varies depending on how many coefficients are used.  When a  coefficient is zero, less calculation is done. The controller was  benchmarked using an Arduino UNO. QuickPID was benchmarked using analogReadFast() code.
 
-| P_ON_M    Compute()                                        | Kp   | Ki   | Kd   | Step Time (µS) |
-| ---------------------------------------------------------- | ---- | ---- | ---- | -------------- |
-| QuickPID                                                   | 2.0  | 5.0  | 0.0  | 88             |
-| Arduino PID                                                | 2.0  | 5.0  | 0.0  | 104            |
-| **P_ON_M    `analogRead(), `Compute(),** **analogWrite()** |      |      |      |                |
-| QuickPID                                                   | 2.0  | 5.0  | 0.2  | 164            |
-| Arduino PID                                                | 2.0  | 5.0  | 0.2  | 224            |
+| P_ON_M  Compute                               | Kp   | Ki   | Kd   | Step Time (µS) |
+| :-------------------------------------------- | ---- | ---- | ---- | -------------- |
+| QuickPID                                      | 2.0  | 5.0  | 0.0  | 88             |
+| Arduino PID                                   | 2.0  | 5.0  | 0.0  | 104            |
+| **P_ON_M   analogRead, Compute, analogWrite** |      |      |      |                |
+| QuickPID                                      | 2.0  | 5.0  | 0.2  | 164            |
+| Arduino PID                                   | 2.0  | 5.0  | 0.2  | 224            |
 
 ### Execution Frequency
 
 A future version will provide further performance improvements by pre-calculating (scaling) the terms and providing direct timer with ISR support.
 
-#### Variables
+### Variables
 
 
 | Variable     | Arduino PID | QuickPID         | Data Type    | Resolution | Bits Used | Min   | Max        |