Diff: PID.cpp

Revision:

8:45797dcd8b66

Parent:

7:edd065946e9b

--- a/PID.cpp	Wed Nov 22 06:58:41 2017 +0000
+++ b/PID.cpp	Fri Dec 01 20:07:48 2017 +0000
@@ -15,8 +15,6 @@
 {
     double error = 0;
     error= signed( counterM1- counterM2);
-    pc.printf("counter1: %6.6f",counterM1);
-    pc.printf("counter2: %6.6f",counterM2);
     double P = Kp * error;
     total_error = (total_error+error);
     double I = Ki * total_error;
@@ -42,10 +40,6 @@
     double error = 0;
     error= signed ( LL_t.read_u16()-RR_t.read_u16());
 
-    // pc.printf("ledL: %d\n",LL_t.read_u16());
-//   pc.printf("LedR: %d\n",RR_t.read_u16());
-    // pc.printf("kp error: %8.8f\n",(signed ( LL_t.read_u16()-RR_t.read_u16()))*Kp_e);
-
     double P = Kp_e * error;
     total_error = (total_error+error);
     double I = Ki_e * total_error;
@@ -58,18 +52,18 @@
 //opening on right side
 bool opening_r(double threshold_p, double threshold_d)
 {
-    return threshold_p < LL_t.read_u16 && prev_error > threshold;
+    return threshold_p < LL_t.read_u16() && prev_error > threshold_d;
 }
 
 bool opening_l(double threshold_p, double threshold_d)
 {
-    return threshold_p < LL_t.read_u16) && prev_error > threshold;
+    return threshold_p < LL_t.read_u16() && prev_error > threshold_d;
 }
 
 //wall in fron the car
 bool wall_front(double threshold_r, double threshold_l)
 {
-    return threshold_r < R_t.read_u(16) && threshold_l < L_t.read_u(16);
+    return threshold_r < R_t.read_u16() && threshold_l < L_t.read_u16();
 }