From d16b072769c1c23954177a17ac3f7dca8e27df01 Mon Sep 17 00:00:00 2001
From: Marco D'Agostini <madacol10@gmail.com>
Date: Wed, 17 Oct 2018 00:20:31 -0500
Subject: [PATCH] Merged two "ifs" into one

---
 PID_v1.cpp | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/PID_v1.cpp b/PID_v1.cpp
index cb6637c..da84683 100644
--- a/PID_v1.cpp
+++ b/PID_v1.cpp
@@ -66,21 +66,23 @@ bool PID::Compute()
       double input = *myInput;
       double error = *mySetpoint - input;
       double dInput = (input - lastInput);
+      double output;
+
+      /*Compute integral*/
       outputSum+= (ki * error);
 
-      /*Add Proportional on Measurement, if P_ON_M is specified*/
-      if(!pOnE) outputSum-= kp * dInput;
+      /*Compute proportional*/
+      if(pOnE) output = kp * error;
+      else { outputSum -= kp * dInput; output = 0; }
 
       if(outputSum > outMax) outputSum= outMax;
       else if(outputSum < outMin) outputSum= outMin;
 
-      /*Add Proportional on Error, if P_ON_E is specified*/
-	   double output;
-      if(pOnE) output = kp * error;
-      else output = 0;
+      /*Compute derivative*/
+      output -= kd * dInput;
 
-      /*Compute Rest of PID Output*/
-      output += outputSum - kd * dInput;
+      /*Merge*/
+      output += outputSum;
 
 	    if(output > outMax) output = outMax;
       else if(output < outMin) output = outMin;