Diff: actuators.cpp

Revision:

20:3cba803cd771

Parent:

19:e89eae07dece

Child:

21:3e6ebec86438

--- a/actuators.cpp	Mon Oct 05 19:53:22 2015 +0200
+++ b/actuators.cpp	Mon Oct 05 21:20:34 2015 +0200
@@ -31,6 +31,8 @@
 float Ki2 = 1; 
 float Kd2 = 1;
 
+float PIDinterval = 0.2;
+
 void motorInit(){
     // Initialze motors
     PwmOut motor1(motor1PWMPin);
@@ -58,16 +60,16 @@
 void initPID(){
     // create PID instances for motors
         // PID pidname(input, output, setpoint, kp, ki, kd, direction)
-    PID PIDmotor1(Kp1, Ki1, Kd1, 0.2);
-    PID PIDmotor2(Kp2, Ki2, Kd2, 0.2);
+    PID PIDmotor1(Kp1, Ki1, Kd1, PIDinterval);
+    PID PIDmotor2(Kp2, Ki2, Kd2, PIDinterval);
     PIDmotor1.setSetPoint(motorSetSpeed1);
     PIDmotor2.setSetPoint(motorSetSpeed2);
 
-    PIDmotor1.setProccessValue(motorSpeed1);
-    PIDmotor2.setProccessValue(motorSpeed2);
+    PIDmotor1.setProcessValue(motorSpeed1);
+    PIDmotor2.setProcessValue(motorSpeed2);
     // set PID mode
-    PIDmotor1.SetMode(AUTOMATIC);
-    PIDmotor2.SetMode(AUTOMATIC);
+    PIDmotor1.setMode(AUTOMATIC);
+    PIDmotor2.setMode(AUTOMATIC);
 
     // set limits for PID output to avoid integrator build up.
     PIDmotor1.SetOutputLimits(-1.0, 1.0);