MEGACARAZ / Mbed 2 deprecated ILC

Iterative Learning Control

Dependencies:   btbee m3pi_ng mbed

Diff: main.cpp

Revision:
5:77f8d658adc3
Parent:
4:8918484e8125
--- a/main.cpp	Wed Jun 10 12:35:35 2015 +0000
+++ b/main.cpp	Wed Jun 10 12:37:50 2015 +0000
@@ -27,7 +27,7 @@
     }
     
 double ILCPower(uvalues, evalues, LoopCounter, dt){
-    return uvalues(LoopCounter-1) + ILC_P_TERM*evalues(LoopCounter-1) + (ILC_D_TERM)*(evalues(LoopCounter)+evalues(LoopCounter-2))/(2*dt);
+    return (uvalues(LoopCounter-1) + ILC_P_TERM*evalues(LoopCounter-1) + (ILC_D_TERM)*(evalues(LoopCounter)+evalues(LoopCounter-2))/(2*dt));
     }
     
 int main() {