E=MC
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e=mc
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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;