fix number boolean comparison in PIDs

2026-06-29 23:37:14 -05:00
parent 46c04bf646
commit b8b22f29b1
1 changed files with 3 additions and 3 deletions
--- a/main.lua
+++ b/main.lua
@@ -861,8 +861,8 @@ function CreatePID(kp, ki, kd)
        kd = kd,
        integral = 0, lastError = 0,

-        minOutput = 0,
-        maxOutput = 256,
+        minOutput = 0.0,
+        maxOutput = 256.0,
        update = function(self, setpoint, pv, dt)
            
            local error = setpoint - pv
@@ -878,7 +878,7 @@ function CreatePID(kp, ki, kd)

            local clampedOutput = 0

-            if self.minOutput <= potential_i <= self.maxOutput then
+            if self.minOutput <= potential_i and potential_i <= self.maxOutput then
                self.integral = potential_i
                clampedOutput = raw_output
            else