Reverse type of controller

[bmandl]

This two lines of code are made for DIRECT type of pid controller. What if user wants reverse type? Output will never step in other direction. We have to swap +'s and -'s.

    //oscillate the output base on the input's relation to the setpoint

    if(refVal>setpoint+noiseBand) *output = outputStart-oStep;
    else if (refVal<setpoint-noiseBand) *output = outputStart+oStep;

To this:

    //oscillate the output base on the input's relation to the setpoint

    if(refVal>setpoint+noiseBand) *output = outputStart+oStep;
    else if (refVal<setpoint-noiseBand) *output = outputStart-oStep;

[br3ttb]

this is a valid problem. if you (or someone) deals with it in a branch I will merge.

[bmandl]

I wouldn't find out if I wouldn't strugle with this issue for a month. First, when I had no idea what is wrong, I tried to solve it with setting output step to negative value. Oscilation acctualy worked, but parameters were negative. So I jumped into source of library.