diff --git a/pidautotuner.cpp b/pidautotuner.cpp index 90a8967..3630f2d 100644 --- a/pidautotuner.cpp +++ b/pidautotuner.cpp @@ -155,9 +155,9 @@ float PIDAutotuner::tunePID(float input, unsigned long us) { if (i >= cycles) { output = false; outputValue = minOutput; - kp = pAverage / (i - 1); - ki = iAverage / (i - 1); - kd = dAverage / (i - 1); + kp = pAverage / (i - 2); + ki = iAverage / (i - 2); + kd = dAverage / (i - 2); } return outputValue; @@ -176,4 +176,4 @@ bool PIDAutotuner::isFinished() { // return number of tuning cycle int PIDAutotuner::getCycle() { return i; -} \ No newline at end of file +}