PID.cc edited online with Bitbucket

traversaro · Jul 6, 2016 · 5a9dfe8 · 5a9dfe8
1 parent 66f37e9
commit 5a9dfe8
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/PID.cc b/src/PID.cc
@@ -149,7 +149,7 @@ double PID::Update(double _error, std::chrono::duration<double> _dt)
   this->cmd = -pTerm - iTerm - dTerm;
 
   // Check the command limits
-  if (!(this->cmdMax < this->cmdMin))
+  if (this->cmdMax >= this->cmdMin)
       this->cmd = clamp(this->cmd, this->cmdMin, this->cmdMax);
 
   return this->cmd;