FRC - Hackathon / PID

Motion Control library for 2, 3 inputs Full Bridge + Quadrature Encoder, motor system (also called a 2 wheels robot)

Dependencies:   Encoder_Nucleo_16_bits

Dependents:   FRC_2018 FRC2018_Bis 0hackton_08_06_18 lib_FRC_2019 ... more

Diff: PID.h

Revision:
7:78cdcb637927
Parent:
5:d01614d14cd1
Child:
8:4553677e8b99
--- a/PID.h	Tue Jun 05 08:06:30 2018 +0000
+++ b/PID.h	Tue Jun 05 12:27:28 2018 +0000
@@ -173,16 +173,13 @@
      */
     int                     RobotIsStuck;  
 
-protected :
+private :    
 
+    void    controlLoop();
     Ticker                  _tick;
     Nucleo_Encoder_16_bits  _Lencoder, _Rencoder;
     PwmOut                  _Lpwm, _Rpwm;
     DigitalOut              _LdirA, _LdirB, _RdirA, _RdirB;
-
-private :    
-
-    void    controlLoop();
     
 };
 #endif //PID_H
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