ECE4333 - 2018 - Ahmed & Brandon / Mbed OS PlayBack

PlayBack

Dependencies:   TPixy-Interface

Fork of ManualControlFinal by ECE4333 - 2018 - Ahmed & Brandon

Diff: Drivers/PiController.cpp

Revision:
22:c09acff62e6a
Parent:
20:9118203f7c9c
--- 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);