Drew Paschal
/
SelfBalancingPID
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Dependencies: mbed Motordriver
Diff: main.cpp
- Revision:
- 1:bf71a7bd2d3e
- Parent:
- 0:67f5b4041c15
- Child:
- 2:ad080363a22c
--- a/main.cpp Fri Mar 06 17:09:31 2015 +0000
+++ b/main.cpp Fri Mar 06 17:12:47 2015 +0000
@@ -62,6 +62,7 @@
#ifdef DEBUG
void callback(); // Interrupt triggered function for serial communication
#endif
+
//////////////////////////////////////////////////////////////////
// Main function
int main()
@@ -80,6 +81,7 @@
#endif
}
}
+
/////////////////////////////////////////////////////////////////
// Control function, implements PID
void control()
@@ -98,6 +100,7 @@
} else speed=0; // If we've fallen over or are steady on top
drive(speed); // Write speed to the motors
}
+
//////////////////////////////////////////////////////////////////
// Drive function
void drive(float speed)
@@ -159,9 +162,9 @@
#endif
}
-#ifdef DEBUG
/////////////////////////////////////////////////////////////////
// Callback function to change values/gains
+#ifdef DEBUG
void callback()
{
char val; // Needed for Serial communication (need to be global?)