[Ether]

Originally Posted by 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;
}

On a side note:

It looks like m_tolerance, m_maximumInput, and m_minimumInput are all constants.

Take them, and the calculation, out of the critical region

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