Diff: PiControlThread.cpp

Revision:

11:9135e5bc2fcf

Parent:

10:8919b1b76243

Child:

14:5777377537a2

--- a/PiControlThread.cpp	Fri Mar 02 23:37:31 2018 +0000
+++ b/PiControlThread.cpp	Sat Mar 03 00:08:16 2018 +0000
@@ -89,11 +89,6 @@
      
 }
 
-
-
-
-
-
 /*******************************************************************************
 * @brief    This is the PI controller thread. It reads several values from the 
 *           FPGA such as speed, time and other sensors data
@@ -128,7 +123,7 @@
         // If distance increase then speed should increase.
         
         // if object is moving away from the the robot increase robot speed
-        if(DistanceError > 0)
+ /*       if(DistanceError > 0)
         {
             Setpoint = (Kd*DistanceError);
         }
@@ -140,7 +135,7 @@
         
         setpointR = Setpoint + (Ks*SteeringError);
         setpointL = Setpoint - (Ks*SteeringError);
-        
+ */       
         U_right = PiControllerR(setpointR,sensors.dp_right);
         U_left  = PiControllerL(setpointL,sensors.dp_left);