Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Correct documentation (signs in PID control law) #138

Merged
merged 2 commits into from
Jan 15, 2023
Merged

Correct documentation (signs in PID control law) #138

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
96608a9
Correct documentation (signs in PID control law)
christophfroehlich Jan 15, 2023
af23c3f
Merge branch 'ros2-master' into ros2-master
bmagyar Jan 15, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions include/control_toolbox/pid.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ namespace control_toolbox
In particular, this class implements the standard
pid equation:

\f$command = -p_{term} - i_{term} - d_{term} \f$
\f$command = p_{term} + i_{term} + d_{term} \f$

where: <br>
<UL TYPE="none">
Expand All @@ -72,7 +72,7 @@ namespace control_toolbox

given:<br>
<UL TYPE="none">
<LI> \f$ p_{error} = p_{state} - p_{target} \f$.
<LI> \f$ p_{error} = p_{desired} - p_{state} \f$.
</UL>

\param p Proportional gain
Expand All @@ -97,7 +97,7 @@ namespace control_toolbox
ros::Time last_time = ros::Time::now();
while (true) {
ros::Time time = ros::Time::now();
double effort = pid.updatePid(currentPosition() - position_desi_, time - last_time);
double effort = pid.updatePid(position_desi_ - currentPosition(), time - last_time);
last_time = time;
}
\endverbatim
Expand Down