From 4399323d05c82cf36a899fb6f28a67022dc714e2 Mon Sep 17 00:00:00 2001
From: felipeserta <71723861+felipeserta@users.noreply.github.com>
Date: Tue, 4 Oct 2022 10:11:44 -0300
Subject: [PATCH] Update pidautotuner.cpp

Changed the index correction for control constants averages because of the last interation i++.
---
 pidautotuner.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

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
+}