잘못된 수식 수정

main.go

@@ -135,8 +135,8 @@ func CpuTempetureScraper(processorCount int, notifier <-chan TempetureChange, er
 		P, I, D          = 1.5, 0.4, 2.0
 		SetPoint         = 40.0
 		SampleTime       = time.Second
-		WindupGuard      = 96.0
 		maxNoob, minNoob = 0x64, 0x4
+		WindupGuard      = float64(maxNoob - minNoob)
 	)
 	noobs := make([]int, processorCount)
 	controllers := make([]pid.Controller, 0, processorCount)
@@ -152,13 +152,12 @@ func CpuTempetureScraper(processorCount int, notifier <-chan TempetureChange, er
 		select {
 		case change := <-notifier:
 			controller := controllers[change.Id]
-			resp := controller.Update(change.Tempeture)
-
-			adj_noob := -int(resp) + minNoob
-			if adj_noob > maxNoob {
+			adj_noob := int(-controller.Update(change.Tempeture))
+			if adj_noob < minNoob {
+				adj_noob = minNoob
+			} else if adj_noob > maxNoob {
 				adj_noob = maxNoob
 			}
-
 			if noobs[change.Id] == adj_noob {
 				continue
 			}

test/test.go

@@ -22,20 +22,20 @@ func test_pid(P float64, I float64, D float64, L int) {
 
 	for i := 0; i < END; i++ {
 		output := pid.Update((feedback * 1000.0) / 1000.0)
-		adj := output
-		if output > 0 {
-			adj = 0.0
-		} else if output < -96.0 {
-			adj = -96.0
+		adj := -output
+		if adj < 4.0 {
+			adj = 4.0
+		} else if adj > 100.0 {
+			adj = 100.0
 		}
 
-		adj_noob := int(-adj + 4)
+		adj_noob := int(adj)
 
 		adj /= 10.0
-		adj += 1.1
+		adj -= 1.1
 		fmt.Printf("feedback: %0.17f output: %0.17f adj: %0.17f noob: 0x%x\n", feedback, output, adj, adj_noob)
 
-		feedback += adj
+		feedback -= adj
 
 		if feedback < minTemp {
 			feedback = minTemp