Tyler Veness f0e3bb5164 artf4165: D term of PID controller now uses change in input instead of change in error ...

This avoids large additions introduced by the D term when a step change occurs in the setpoint. Otherwise, the changes return the same values. Let error = setpoint - input and prevError = prevSetpoint - prevInput. If the D term is calculated via error - prevError, then:

error - prevError = (setpoint - input) - (prevSetpoint - prevInput)

If we ignore the setpoint changing, then we get:

error - prevError = (setpoint - input) - (setpoint - prevInput)
                  = prevInput - input

Change-Id: Ifa4af9b265e3c4bd263e8541355f2b80269693e9

2015-07-30 08:55:28 -07:00

..

src/main/java/edu/wpi/first/wpilibj

artf4165: D term of PID controller now uses change in input instead of change in error

2015-07-30 08:55:28 -07:00

pom.xml

Merged sources in wpilibJavaFinal.

2014-08-12 14:59:16 -04:00