minor cleanup

diff --git a/src/pid-controller.js b/src/pid-controller.js
index f225098..b284e64 100644 (file)
--- a/src/pid-controller.js
+++ b/src/pid-controller.js
@@ -1,8 +1,4 @@
 class PIDController {
-       //public enum DerivativeMeasurement {
-       //    Velocity,
-       //    ErrorRateOfChange
-       //}
        constructor() {
        this.PIDParams = {proportionalGain: 2, integralGain: 0.0, derivativeGain: 2, iMin: -1, iMax: 1, integralSaturation: false, derivativeInitialized: false, outputMax: 1, outputMin: -1, magnitude: 10, force: 0, derivativeMeasurement: "Velocity"};
                this.valueLast; 
@@ -35,7 +31,7 @@ class PIDController {
 
                if (this.derivativeInitialized) {
                        if (this.PIDParams.derivativeMeasurement == "Velocity") {
-                       deriveMeasure = -valueRateOfChange;
+                               deriveMeasure = -valueRateOfChange;
                        } else {
                           deriveMeasure = errorRateOfChange;
                        }
@@ -47,7 +43,6 @@ class PIDController {
                result *= this.PIDParams.magnitude;
                this.PIDParams.force = result * 60; /* this routine is called ~60seconds */
 
-               //console.log(result*60 + " N");
                return result;
                //return Math.min(Math.max((result, this.PIDParams.outputMin), this.PIDParams.outputMax));
        }