Biorobotics 7 / BioroboticsMotorControl

PID motor controll for the biorobotics project.

Dependencies:   FastPWM QEI

Dependents:   PID_example Motor_calibration Demo_mode Demo_mode ... more

Diff: pid.cpp

Revision:
14:e5fc69651b1d
Parent:
4:5353c5d0d2ed
--- a/pid.cpp	Thu Nov 01 12:55:32 2018 +0000
+++ b/pid.cpp	Mon Nov 05 16:03:11 2018 +0000
@@ -53,7 +53,7 @@
     error_integral += error * pid_period;
     double u_i = Ki * error_integral;
     
-    // Derivative part
+    // Derivative part (needs filter)
     double error_der = (error-error_previous)/pid_period;
     double filtered_error_der = biquad_step(error_der);
     double u_d = Kd * filtered_error_der;