From 5a9dfe8a3c42b15279a5bad5ebc30c8b21fb6cda Mon Sep 17 00:00:00 2001
From: Nathan Koenig <natekoenig@gmail.com>
Date: Wed, 6 Jul 2016 21:27:27 +0000
Subject: [PATCH] PID.cc edited online with Bitbucket

---
 src/PID.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/PID.cc b/src/PID.cc
index 1dafe424d..e30e24c40 100644
--- 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;