robot
Dependencies: Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed
Fork of Robot2false by
Diff: main.cpp
- Revision:
- 13:722697791695
- Parent:
- 12:e59b2bdb8d0e
- Child:
- 14:1ff917c6ac45
--- a/main.cpp Fri Oct 31 08:38:05 2014 +0000 +++ b/main.cpp Fri Oct 31 08:43:28 2014 +0000 @@ -402,11 +402,11 @@ float out_p = 0; static float out_i = 0; float out_d = 0; - //if(reset==true) - //{ - // out_i = 0; - // prev_error = 0; - //} + if(reset==true) + { + out_i = 0; + prev_error = 0; + } error = setspeed-measurement; out_p = error*K_P; out_i += error*K_I;