From 6cda038e59ad402451875c3c9cdef27dcd491514 Mon Sep 17 00:00:00 2001
From: LaurentDelaon <35500047+LaurentDelaon@users.noreply.github.com>
Date: Wed, 31 Jul 2019 10:28:41 +0200
Subject: [PATCH] Update PID_v1.cpp

I put the start sample time  at is beginning not after the calculus.
Taking account the calcul past time and other...
---
 PID_v1.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/PID_v1.cpp b/PID_v1.cpp
index cb6637c..4752939 100644
--- a/PID_v1.cpp
+++ b/PID_v1.cpp
@@ -62,6 +62,8 @@ bool PID::Compute()
    unsigned long timeChange = (now - lastTime);
    if(timeChange>=SampleTime)
    {
+      // take the start sample time		   
+      lastTime = now;	   
       /*Compute all the working error variables*/
       double input = *myInput;
       double error = *mySetpoint - input;
@@ -88,7 +90,7 @@ bool PID::Compute()
 
       /*Remember some variables for next time*/
       lastInput = input;
-      lastTime = now;
+
 	    return true;
    }
    else return false;