{"action":"created","issue":{"url":"https://api.github.com/repos/rock-control/control-motor_controller/issues/2","labels_url":"https://api.github.com/repos/rock-control/control-motor_controller/issues/2/labels{/name}","comments_url":"https://api.github.com/repos/rock-control/control-motor_controller/issues/2/comments","events_url":"https://api.github.com/repos/rock-control/control-motor_controller/issues/2/events","html_url":"https://github.com/rock-control/control-motor_controller/pull/2","id":91278051,"number":2,"title":"Fixed derivative handling of pid","user":{"login":"saarnold","id":7925487,"avatar_url":"https://avatars.githubusercontent.com/u/7925487?v=3","gravatar_id":"","url":"https://api.github.com/users/saarnold","html_url":"https://github.com/saarnold","followers_url":"https://api.github.com/users/saarnold/followers","following_url":"https://api.github.com/users/saarnold/following{/other_user}","gists_url":"https://api.github.com/users/saarnold/gists{/gist_id}","starred_url":"https://api.github.com/users/saarnold/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/saarnold/subscriptions","organizations_url":"https://api.github.com/users/saarnold/orgs","repos_url":"https://api.github.com/users/saarnold/repos","events_url":"https://api.github.com/users/saarnold/events{/privacy}","received_events_url":"https://api.github.com/users/saarnold/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":9,"created_at":"2015-06-26T15:22:25Z","updated_at":"2015-07-29T13:38:38Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/rock-control/control-motor_controller/pulls/2","html_url":"https://github.com/rock-control/control-motor_controller/pull/2","diff_url":"https://github.com/rock-control/control-motor_controller/pull/2.diff","patch_url":"https://github.com/rock-control/control-motor_controller/pull/2.patch"},"body":"In cases where the input value stays constant, and the reference value is changing, the previous implementation would lead to the derivative value not being used.\r\n\r\nTo calculate the derivative, only the input value was used, instead of the full error value (e.g. the reference - input).\r\n\r\nChanged the implementation to store the error instead of the previous input value, and use that to calculate the derivative.\r\n\r\nI'm citing @jakobs here ;)"},"comment":{"url":"https://api.github.com/repos/rock-control/control-motor_controller/issues/comments/125955252","html_url":"https://github.com/rock-control/control-motor_controller/pull/2#issuecomment-125955252","issue_url":"https://api.github.com/repos/rock-control/control-motor_controller/issues/2","id":125955252,"user":{"login":"rafaelsaback","id":7912190,"avatar_url":"https://avatars.githubusercontent.com/u/7912190?v=3","gravatar_id":"","url":"https://api.github.com/users/rafaelsaback","html_url":"https://github.com/rafaelsaback","followers_url":"https://api.github.com/users/rafaelsaback/followers","following_url":"https://api.github.com/users/rafaelsaback/following{/other_user}","gists_url":"https://api.github.com/users/rafaelsaback/gists{/gist_id}","starred_url":"https://api.github.com/users/rafaelsaback/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rafaelsaback/subscriptions","organizations_url":"https://api.github.com/users/rafaelsaback/orgs","repos_url":"https://api.github.com/users/rafaelsaback/repos","events_url":"https://api.github.com/users/rafaelsaback/events{/privacy}","received_events_url":"https://api.github.com/users/rafaelsaback/received_events","type":"User","site_admin":false},"created_at":"2015-07-29T13:38:38Z","updated_at":"2015-07-29T13:38:38Z","body":"Since I don't have the rights to push directly to the repo, I've created a pull request to this branch (check the other pull request).\r\n\r\nThe default behavior was changed to the old one (derivative of the output)."}}