Fighting PID

[Ether]

Originally Posted by Geek 2.0

By the looks of it, it's saying that it won't add the error to the total error if the result would be outside the maximum and minimum output. Does that seem wrong to anyone else?

Seems right to me.

Shouldn't it add the error no matter what, and then clip off the result to fit in the max and min output?

No. You don't want the integrator error to continue winding up once it's large enough to produce the maximum output.