EE192 Team 4 / Mbed 2 deprecated EE192_BetterPID

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Dependencies:   PID mbed

Diff: main.cpp

Revision:
1:f2a8a330983b
Parent:
0:f641e7f8973f
Child:
2:486214873b2c
--- a/main.cpp	Wed Mar 16 01:44:23 2016 +0000
+++ b/main.cpp	Wed Mar 16 01:51:38 2016 +0000
@@ -5,16 +5,18 @@
 float Ki = 0.0;
 float Kd = 0.0;
 float interval = 0.1; //in seconds
+float outputPWM = 0.0;
 
 PID controller(Kp, Ki, Kd, interval);
 float currentVelocity;
-PwmOut co(p26);
+PwmOut motorControl(PTD5);
 
 Ticker executeController;
 
 void control() {
     controller.setProcessValue(currentVelocity);
     outputPWM = controller.compute();
+    motorControl.pulsewidth_us(int(1000*outputPWM));
 }
 
 int main() {
@@ -23,6 +25,9 @@
     controller.setSetPoint(3.0); //reference velocity is 3.0 m/s
     controller.setBias(0.0); //no bias for controller to output
     controller.setMode(1); //AUTO mode
+    
+    motorControl.period_us(1000);
+    
     executeController.attach(&control, interval);
         
 }