lastTime again...

[Denis Lafourcade]

Hello Brett,

In your PID lib, the compute function executes only if the delay since last call is greater than sampleTime. For that, you use a variable called lastTime, which is private and initialized in the constructor to (now-sampleTime). The problem is that sampleTime is set to 100ms at that time. If sampleTime is then set by the user with the SetSampleTime function at a greater value, the compute function will wait during quite an entire sampleTime before starting.

I think that sampleTime should be defined by user at construction time (overload ::PID), and lastime should also be updated in the SetSampleTime function.

Just my two cents,

Denis