Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
Robot-Software
by 
Biorobotics
Diff: help_functions/PID_controller.h
- Revision:
- 13:3482d315877c
- Parent:
- 10:7339dca7d604
--- a/help_functions/PID_controller.h Tue Oct 23 08:44:17 2018 +0000
+++ b/help_functions/PID_controller.h Mon Oct 29 12:55:38 2018 +0000
@@ -3,9 +3,9 @@
double Kp = 7.5;
double Ki = 1.02;
double Kd = 10;
-double samplingfreq = 1000;
+extern double samplingfreq = 1000;
-void PID_controller(double error1, double error2, double &u1, double &u2)
+void PID_controller(double error1, double error2, float &u1, float &u2)
{
double u_k = Kp * error1;