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ObjectFollower
Dependencies: TPixy-Interface
Fork of PlayBack by
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);