Dominique Clevers / Mbed 2 deprecated The_SLAP_5_1

the slap

Dependencies:   Encoder HIDScope MODSERIAL TextLCD mbed-dsp mbed

Fork of The_SLAP_5_1 by Daan

Diff: main.cpp

Revision:
11:ea9fe75faf63
Parent:
10:d156dc2efe5c
--- a/main.cpp	Wed Oct 29 20:40:14 2014 +0000
+++ b/main.cpp	Thu Oct 30 09:12:18 2014 +0000
@@ -99,12 +99,12 @@
     *in > min ? *in < max? : *in = max: *in = min;
 }
 
-float pidkm(float setpointkm, float measurementkm) //PID Regelaar Kleine motor
+float pidkm(float setpointkm, float measurementkm) //PID Regelaar kleine motor
 {
     float error_km;
     static float prev_error_km = 0;
     float           out_p_km = 0;
-    static float    out_i_km = 0;       //waarom static float??????
+    static float    out_i_km = 0;              //static, want dan wordt vorige waarde onthouden
     float           out_d_km = 0;
     error_km  = setpointkm-measurementkm;
     out_p_km  = error_km*K_P_KM;