jetfishteam / Mbed 2 deprecated mbed_PI_Depth

PI depth control test

Dependencies:   MS5803 mbed Servo

Diff: IMUDepthControl.h

Revision:
1:07e046bbcb84
Parent:
0:df16f9bfc07b
--- a/IMUDepthControl.h	Wed Aug 06 20:17:02 2014 +0000
+++ b/IMUDepthControl.h	Wed Aug 06 20:33:01 2014 +0000
@@ -1,4 +1,6 @@
 #pragma once
+#include "mbed.h"
+#include "Servo.h"
 #include "MS5803.h"
 
 class IMUDepthControl
@@ -9,8 +11,14 @@
     float m_Kp;
     float m_Ki;
     float m_errorsum;
+    float m_delta_t;
+    float m_last_pos;
+    Timer t;
+    Servo output;
+    
+    Ticker feedback;
 public:
     IMUDepthControl(PinName sda, PinName scl, float Kp, float Ki);
     void setPoint(float setpoint);
-    float iterate();
+    void iterate();
 };
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