fixed typo in gains set functions

rosmod · Aug 22, 2017 · fea2f9c · fea2f9c
1 parent 18d4bca
commit fea2f9c
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Showing 3 changed files with 3 additions and 114 deletions.
diff --git a/libpid.h b/libpid.h
diff --git a/src/pid.zip b/src/pid.zip
diff --git a/src/pid/include/pid/pid.h b/src/pid/include/pid/pid.h
@@ -88,15 +88,15 @@ void libpid::setIntegratorMin(double min) {
 }
 
 void libpid::setKp(double kp) {
-  kp_ = (kp >= 0) ? kp : 0;
+  kp_ = (kp <= 0) ? kp : 0;
 }
 
 void libpid::setKi(double ki) {
-  ki_ = (ki >= 0) ? ki : 0;
+  ki_ = (ki <= 0) ? ki : 0;
 }
 
 void libpid::setKd(double kd) {
-  kd_ = (kd >= 0) ? kd : 0;
+  kd_ = (kd <= 0) ? kd : 0;
 }
 
 double libpid::getPoint() {