EE192 Team 4 / Mbed 2 deprecated EE192_BetterPID

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Dependencies:   PID mbed

Diff: main.cpp

Revision:
2:486214873b2c
Parent:
1:f2a8a330983b
diff -r f2a8a330983b -r 486214873b2c main.cpp
--- a/main.cpp	Wed Mar 16 01:51:38 2016 +0000
+++ b/main.cpp	Wed Mar 16 01:53:22 2016 +0000
@@ -6,6 +6,7 @@
 float Kd = 0.0;
 float interval = 0.1; //in seconds
 float outputPWM = 0.0;
+int period = 1000;
 
 PID controller(Kp, Ki, Kd, interval);
 float currentVelocity;
@@ -14,9 +15,9 @@
 Ticker executeController;
 
 void control() {
-    controller.setProcessValue(currentVelocity);
+    controller.setProcessValue(currentVelocity); //need to input car's current velocity from encoder
     outputPWM = controller.compute();
-    motorControl.pulsewidth_us(int(1000*outputPWM));
+    motorControl.pulsewidth_us(int(period*outputPWM));
 }
 
 int main() {
@@ -26,7 +27,7 @@
     controller.setBias(0.0); //no bias for controller to output
     controller.setMode(1); //AUTO mode
     
-    motorControl.period_us(1000);
+    motorControl.period_us(period);
     
     executeController.attach(&control, interval);