Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

Diff: PID/PID.h

Revision:
57:43f707648f2b
Parent:
55:ee5257fb73df
Child:
60:20945383ad1b
--- a/PID/PID.h	Fri Oct 09 13:06:14 2015 +0000
+++ b/PID/PID.h	Mon Oct 12 11:46:47 2015 +0200
@@ -17,8 +17,6 @@
 	void SetSampleTime(float);
 
 	void SetTunings(float, float, float);
-	float output;
-	float getOutput();
 
 	private:
 	void Initialize();
@@ -28,7 +26,7 @@
     float *myOutput;             //   This creates a hard link between the variables and the 
     float *mySetpoint;           //   PID, freeing the user from having to constantly tell us
                                   //   what these values are.  with pointers we'll just know.
-	float error, errSum, dErr; 
+	float error, ITerm, dErr; 
 	float lastErr, lastInput;
 	float kp, ki, kd;
 	float outMin, outMax;