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Dependencies:   Servo mbed

Files at this revision

API Documentation at this revision

Revision 18:9508bece39b0, committed 2015-04-24

Comitter:
ericoneill
Date:
Fri Apr 24 01:31:57 2015 +0000
Parent:
17:054a54d73e04
Commit message:
stuff makes sense!;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 054a54d73e04 -r 9508bece39b0 main.cpp
--- a/main.cpp	Fri Apr 24 01:17:54 2015 +0000
+++ b/main.cpp	Fri Apr 24 01:31:57 2015 +0000
@@ -154,9 +154,10 @@
 
 // Encoder and Motor Driver Functions ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-float PIDcontrol(int lineCenter, int loopCtr){
+float PIDcontrol(float lineCenter, int loopCtr){
     //centerSum += lineCenter;
     float newLineCenter = (float)lineCenter/127.0f;
+    pdLineCenter[loopCtr] = newLineCenter;
     float newTime = t.read();
     timeDiff = newTime - lastTime;
     lastTime = newTime;