Diff: PID.cpp

Revision:

2:d6f14bb935da

Parent:

1:24c444f3716b

Child:

3:93fb84c4e9bc

diff -r 24c444f3716b -r d6f14bb935da PID.cpp
--- a/PID.cpp	Mon May 21 16:16:13 2018 +0000
+++ b/PID.cpp	Tue May 22 17:15:51 2018 +0000
@@ -16,7 +16,7 @@
     _Ki = 0;
     _Kd = 0;
 
-    _tick.attach(this, &PID::controlLoop, _loopTime);
+    _tick.attach(callback(this, &PID::controlLoop), _loopTime);
 }
 
 float PID::setProportionnalValue (float KpValue)
@@ -42,22 +42,26 @@
     _consigne = setPoint;
 }
 
+long PID::getPosition (void)
+{
+    return _Position;
+}
+
 void PID::controlLoop()
 {
     static int      firstTime = 1;
     static float    integralError = 0;
     static float    oldError;
     double          deltaD, error, commande;
-    long            position;
     static long int oldPosition;
 
-    position = _encoder.GetCounter();
+    _Position = _encoder.GetCounter();
     if (firstTime)  {
-        oldPosition = position;
+        oldPosition = _Position;
         firstTime = 0;
     } else {
-        deltaD = 1000.0 * ((double)position - (double)oldPosition) / _scale;
-        oldPosition = position;
+        deltaD = 1000.0 * ((double)_Position - (double)oldPosition) / _scale;
+        oldPosition = _Position;
         error = _consigne - deltaD;
         integralError += error;