Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

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?