Diff: bot/PIDcontroller/PID_controller.cpp

Revision:

19:3a62cbc6fee9

Parent:

18:41f7dd1a5ed1

Child:

22:bb6afe7332c3

--- a/bot/PIDcontroller/PID_controller.cpp	Thu Aug 31 10:34:55 2017 +0900
+++ b/bot/PIDcontroller/PID_controller.cpp	Mon Sep 04 01:01:13 2017 +0000
@@ -23,22 +23,22 @@
 }
 
 PIDC::PIDC(PinName sda, PinName scl, float kc, float ti, float td, float interval) :
-PID(kc, ti, td, interval), HMC6352(sda, scl)
-{
-    PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT);
-    PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT);
-    PID::setBias(BIAS);
-    PID::setMode(AUTO_MODE);
-    PID::setSetPoint(0.0);
-
-    HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20);
-    rawDegree = HMC6352::sample();
-    beforeDegree = HMC6352::sample();
-    offSetDegree = HMC6352::sample();
-    initDegree = 0;
-    turnOverNumber = 0;
-//    this -> attach(this, &PIDC::updateOutput, INTERVAL);
-}
+PID(kc, ti, td, interval), HMC6352(sda, scl)
+{
+    PID::setInputLimits(-INPUT_LIMIT, INPUT_LIMIT);
+    PID::setOutputLimits(-OUTPUT_LIMIT, OUTPUT_LIMIT);
+    PID::setBias(BIAS);
+    PID::setMode(AUTO_MODE);
+    PID::setSetPoint(0.0);
+
+    HMC6352::setOpMode(HMC6352_CONTINUOUS, 1, 20);
+    rawDegree = HMC6352::sample();
+    beforeDegree = HMC6352::sample();
+    offSetDegree = HMC6352::sample();
+    initDegree = 0;
+    turnOverNumber = 0;
+//    this -> attach(this, &PIDC::updateOutput, INTERVAL);
+}
 
 
 void PIDC::confirm()
@@ -56,3 +56,9 @@
 {
     return co;
 }
+
+
+void PIDC::calibration(int mode)
+{
+    setCalibrationMode(mode);
+}