PID controller value exceeds CmdMax/Min value
I initialize my PID controller with specific max and min values:
common::PID posPID;
posPID.Init(0.01, 0.1, 1.0, 1.0, 0.0, 200.0, 0.0);
and when I do
posPID.Update(desiredVel - _spindle.angVel, _stepTime);
the value it returns can be negative or bigger than 200
Any hints what might be the problem?