ECE4333 - 2018 - Ahmed & Brandon / Mbed OS ManualControlFinal

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Dependencies:   TPixy-Interface

Fork of MbedOS_Robot_Team by ECE4333 - 2018 - Ahmed & Brandon

Diff: Drivers/PiController.cpp

Revision:
26:e93890381e66
Parent:
16:58ec2b891a25
diff -r f2a1bd6591fb -r e93890381e66 Drivers/PiController.cpp
--- a/Drivers/PiController.cpp	Tue Apr 03 16:39:12 2018 +0000
+++ b/Drivers/PiController.cpp	Tue Apr 03 16:52:38 2018 +0000
@@ -79,9 +79,7 @@
     int32_t uIntegral;
     int32_t uS;
     
-    setpointR_mutex.lock();
     e = SaturatingSubtract(setp, dP);  // e is the velocity error
-    setpointR_mutex.unlock();
 
     xTemp = SaturatingAdd(xState, e);
 
@@ -119,9 +117,7 @@
     int32_t uIntegral;
     int32_t uS;
     
-    setpointL_mutex.lock();
     e = SaturatingSubtract(setp, dP);  // e is the velocity error
-    setpointL_mutex.unlock();
 
     xTemp = SaturatingAdd(xState, e);