Merge pull request #39 from clearpathrobotics/fix-math

Adolfo Rodriguez Tsouroukdissian · Adolfo Rodriguez Tsouroukdissian · commit 3de74bae30c6 · 2015-05-22T17:06:11.000+02:00
Update computeCommand call to match documented/expected behaviour
diff --git a/src/pid.cpp b/src/pid.cpp
@@ -369,7 +369,7 @@ double Pid::computeCommand(double error, double error_dot, ros::Duration dt)
   d_term = gains.d_gain_ * d_error_;
 
   // Compute the command
-  cmd_ = - p_term - i_term - d_term;
+  cmd_ = p_term + i_term + d_term;
 
   return cmd_;
 }

Original file line number	Diff line number	Diff line change
`@@ -369,7 +369,7 @@ double Pid::computeCommand(double error, double error_dot, ros::Duration dt)`
`369`	`369`	`d_term = gains.d_gain_ * d_error_;`
`370`	`370`
`371`	`371`	`// Compute the command`
`372`		`- cmd_ = - p_term - i_term - d_term;`
	`372`	`+ cmd_ = p_term + i_term + d_term;`
`373`	`373`
`374`	`374`	`return cmd_;`
`375`	`375`	`}`