Problem with negitive numbers

[Alan Anderson]

I don't see anything that defines the type of output. If it were an unsigned variable, it would give the behavior you describe.

[EHaskins]

Originally Posted by Uberbots

check your PID loop... maybe you inadvertedly got rid of a typecast.

also, are you sure you dont have any longs defined in there?

I did a find in my code, and found only one long. It is used in CalculateSpeed, to store a local copy of the encoder count. The output from CalculateSpeed appears correctly in the printfs in both CalculateSpeed and PID.

Originally Posted by Alan Anderson

I don't see anything that defines the type of output. If it were an unsigned variable, it would give the behavior you describe.

It is defined in the code in my first post, line 7. It is an int.

Originally Posted by dcbrown

If you suspect overflow in currentOutput, then bump it from int to short long type to see if the symptoms change.

I will try that next time I have access to the robot.