[jwakeman]

bool PIDController::OnTarget()
{
	bool temp;
	CRITICAL_REGION(m_semaphore)
	{
		temp = fabs(m_error) < (m_tolerance / 100 * 
			(m_maximumInput - m_minimumInput));
	}
	END_REGION;
	return temp;
}

I'm having trouble understanding the implementation of this function. In the context that I was using it my max input was 100 and my minimum input was 0. I was using the default tolerance of 0.05 (assuming this means 5%).

0.05 / 100 *100 = 0.05.

This means my error would have to less than 0.05 to be OnTarget regardless of setpoint.

For a setpoint of 10 I would have to be within 0.05 which is 0.5%, not 5%.

For a setpoint of 100 I still have to be within 0.05 which is 0.05% of 100, not 5%.

Shouldn't the implementation be the percent error formula?

% error = (|Your Result - Accepted Value| / Accepted Value) x 100

Something like:

bool PIDController::OnTarget()
{
	bool temp;
	CRITICAL_REGION(m_semaphore)
	{
		temp = fabs(m_error)/m_setpoint < m_tolerance;
	}
	END_REGION;
	return temp;
}