ObjectFollower
Dependencies: TPixy-Interface
Fork of PlayBack by
Diff: Drivers/PiController.cpp
- Revision:
- 22:c09acff62e6a
- Parent:
- 20:9118203f7c9c
diff -r 7fee709bb063 -r c09acff62e6a Drivers/PiController.cpp --- a/Drivers/PiController.cpp Fri Mar 23 22:32:38 2018 +0000 +++ b/Drivers/PiController.cpp Fri Mar 23 22:42:41 2018 +0000 @@ -78,9 +78,7 @@ 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); @@ -118,9 +116,7 @@ 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);