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Slaih
Why did you do output equation like this: output += uPID->OutputSum - uPID->Kd * dInput; I think that uPID->Kd * dInput value should be added to output instead of substracted.
Slaih
Why did you do output equation like this: output += uPID->OutputSum - uPID->Kd * dInput; I think that uPID->Kd * dInput value should be added to output instead of substracted.