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update Compute() so it computes on the first call #109

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update Compute() so it computes on the first call #109

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5 changes: 4 additions & 1 deletion PID_v1.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,10 +57,12 @@ PID::PID(double* Input, double* Output, double* Setpoint,
**********************************************************************************/
bool PID::Compute()
{
static bool first = true;

if(!inAuto) return false;
unsigned long now = millis();
unsigned long timeChange = (now - lastTime);
if(timeChange>=SampleTime)
if(first || (timeChange>=SampleTime))
{
/*Compute all the working error variables*/
double input = *myInput;
Expand Down Expand Up @@ -89,6 +91,7 @@ bool PID::Compute()
/*Remember some variables for next time*/
lastInput = input;
lastTime = now;
first = false;
return true;
}
else return false;
Expand Down