Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed MODSERIAL FATFileSystem

Diff: OuterLoop/OuterLoop.cpp

Revision:
11:3b241ecb75ed
Parent:
10:085ab7328054
Child:
14:85b64a4d08e8
diff -r 085ab7328054 -r 3b241ecb75ed OuterLoop/OuterLoop.cpp
--- a/OuterLoop/OuterLoop.cpp	Mon Oct 23 12:50:53 2017 +0000
+++ b/OuterLoop/OuterLoop.cpp	Fri Oct 27 00:37:32 2017 +0000
@@ -70,8 +70,13 @@
     _pid.writeSetPoint(_SetPoint);
 }
  
+float OuterLoop::getCommand() {
+    return _SetPoint;
+}
+
 float OuterLoop::getOutput() {
-    return _pid.getOutput();
+    /* PID output + offset to drive the motors to the correct position */
+    return _pid.getOutput() + _offset;
 }
  
 void OuterLoop::refreshPVState() {
@@ -127,4 +132,12 @@
 bool OuterLoop::toggleDeadband(bool toggle) {
     _pid.toggleDeadBand(toggle);
     return toggle;
-}         
\ No newline at end of file
+}
+
+void OuterLoop::setOutputOffset(float offset) {
+    _offset = offset;
+}
+ 
+float OuterLoop::getOutputOffset() {
+    return _offset;
+}
\ No newline at end of file