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fix uninitialized value, fix unsigned calculation #18

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fix uninitialized value, fix unsigned calculation #18

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4 changes: 3 additions & 1 deletion AutoPID.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,9 @@ void AutoPID::setIntegral(double integral){

void AutoPIDRelay::run() {
AutoPID::run();
while ((millis() - _lastPulseTime) > _pulseWidth) _lastPulseTime += _pulseWidth;
const unsigned long currentTime = millis();
while (currentTime > (_pulseWidth + _lastPulseTime))
_lastPulseTime += _pulseWidth;
*_relayState = ((millis() - _lastPulseTime) < (_pulseValue * _pulseWidth));
}

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2 changes: 1 addition & 1 deletion AutoPID.h
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Expand Up @@ -46,7 +46,7 @@ class AutoPIDRelay : public AutoPID {
public:

AutoPIDRelay(double *input, double *setpoint, bool *relayState, double pulseWidth, double Kp, double Ki, double Kd)
: AutoPID(input, setpoint, &_pulseValue, 0, 1.0, Kp, Ki, Kd) {
: AutoPID(input, setpoint, &_pulseValue, 0, 1.0, Kp, Ki, Kd), _lastPulseTime{millis()} {
_relayState = relayState;
_pulseWidth = pulseWidth;
};
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