fix out-of-scope issue with the D variable in PIDs

2026-06-29 23:35:43 -05:00
parent 61c8f88d40
commit 46c04bf646
1 changed files with 3 additions and 1 deletions
--- a/main.lua
+++ b/main.lua
@@ -868,7 +868,9 @@ function CreatePID(kp, ki, kd)
            local error = setpoint - pv

            local P = self.kp * error
-            if dt > 0 then local D = self.kd * ((error - self.lastError) / dt) else D = 0 end
+            
+            local D = 0
+            if dt > 0 then D = self.kd * ((error - self.lastError) / dt) else D = 0 end

            local potential_i = self.integral + (self.ki * error * dt)