{"action":"created","issue":{"url":"https://api.github.com/repos/br3ttb/Arduino-PID-Library/issues/46","repository_url":"https://api.github.com/repos/br3ttb/Arduino-PID-Library","labels_url":"https://api.github.com/repos/br3ttb/Arduino-PID-Library/issues/46/labels{/name}","comments_url":"https://api.github.com/repos/br3ttb/Arduino-PID-Library/issues/46/comments","events_url":"https://api.github.com/repos/br3ttb/Arduino-PID-Library/issues/46/events","html_url":"https://github.com/br3ttb/Arduino-PID-Library/issues/46","id":161698072,"number":46,"title":"Bug? PID Output is wrong?","user":{"login":"nanahuse","id":14342544,"avatar_url":"https://avatars.githubusercontent.com/u/14342544?v=3","gravatar_id":"","url":"https://api.github.com/users/nanahuse","html_url":"https://github.com/nanahuse","followers_url":"https://api.github.com/users/nanahuse/followers","following_url":"https://api.github.com/users/nanahuse/following{/other_user}","gists_url":"https://api.github.com/users/nanahuse/gists{/gist_id}","starred_url":"https://api.github.com/users/nanahuse/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/nanahuse/subscriptions","organizations_url":"https://api.github.com/users/nanahuse/orgs","repos_url":"https://api.github.com/users/nanahuse/repos","events_url":"https://api.github.com/users/nanahuse/events{/privacy}","received_events_url":"https://api.github.com/users/nanahuse/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":4,"created_at":"2016-06-22T14:28:01Z","updated_at":"2016-06-22T16:40:07Z","closed_at":null,"body":"In this library, PID Output is calculated from\r\n`output = kp * error + ITerm - kd * dInput`\r\n(At line 63 in PID_v1.cpp)\r\n\r\nBut, I think  PID Output is calculated from the following formula using previous step's output  in discrete implementation.\r\n`output =  old_output + kp * error + ITerm - kd * dInput`\r\n\r\nreference: https://en.wikipedia.org/wiki/PID_controller#Discrete_implementation\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/br3ttb/Arduino-PID-Library/issues/comments/227803024","html_url":"https://github.com/br3ttb/Arduino-PID-Library/issues/46#issuecomment-227803024","issue_url":"https://api.github.com/repos/br3ttb/Arduino-PID-Library/issues/46","id":227803024,"user":{"login":"nanahuse","id":14342544,"avatar_url":"https://avatars.githubusercontent.com/u/14342544?v=3","gravatar_id":"","url":"https://api.github.com/users/nanahuse","html_url":"https://github.com/nanahuse","followers_url":"https://api.github.com/users/nanahuse/followers","following_url":"https://api.github.com/users/nanahuse/following{/other_user}","gists_url":"https://api.github.com/users/nanahuse/gists{/gist_id}","starred_url":"https://api.github.com/users/nanahuse/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/nanahuse/subscriptions","organizations_url":"https://api.github.com/users/nanahuse/orgs","repos_url":"https://api.github.com/users/nanahuse/repos","events_url":"https://api.github.com/users/nanahuse/events{/privacy}","received_events_url":"https://api.github.com/users/nanahuse/received_events","type":"User","site_admin":false},"created_at":"2016-06-22T16:40:07Z","updated_at":"2016-06-22T16:40:07Z","body":"Thanks. I tried to match as you say. and I understood that this library is not wrong.\r\nBut still, I feel strange that the value calculated by PID class is used as output on examples."}}
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