Code: Comments

2023-05-20 20:27:39 -03:00
parent 3aff3e79a7
commit ef20de582b
1 changed files with 3 additions and 3 deletions
--- a/Code/STM32/Core/Src/Components/Motor.cpp
+++ b/Code/STM32/Core/Src/Components/Motor.cpp
@@ -35,15 +35,15 @@ void Motor::pid(float inputRevPerTick){
 	error = inputRevPerTick - currentRevPerTick;
 	derror = error - lastError;
 	ierror += error;
-	if(ierror > 1){
+	if(ierror > 1){		// Anti-windup
 		ierror = 1;
 	}else if(ierror < -1){
 		ierror = -1;
 	}
 	float pid = kp*error + ki*ierror + kd*derror;
-	if(pid > 1){
+	if(pid > 1){		// Clamp
 		pid = 1;
-	}else if(pid<-1){
+	}else if(pid < -1){
 		pid = -1;
 	}
 	setPower(pid);