Diff: L9110S.h

Revision:

4:d2fb1359716e

Parent:

3:695e0c6881c5

Child:

5:5d8bf5144d8f

--- a/L9110S.h	Sat Oct 31 15:42:00 2015 +0000
+++ b/L9110S.h	Tue Feb 09 07:46:23 2016 +0000
@@ -48,7 +48,7 @@
  *      debug.printf("Power: %i\n\r", power );
  *      wait(0.10);
  *      if ((power > 99)||(power < -99)) step *= -1;
- #    }
+ *    }
  * }
  * @endcode
  */
@@ -101,9 +101,22 @@
          */
         void frequency(int hz);
     
+        void drive_diff(float Soll, float Ist, int kp ,int i_lim, int trash);
+        /** sets the PWM frequency
+         *
+         * @param Soll  target value
+         * @param Ist   actual value
+         * @param kp    prop Faktor
+         * @param i_lim I Limiter 
+         * @param trash Deathband wide in value * 10
+         *
+         */
+    
     private:
         PwmOut _cw;
         PwmOut _ccw;
         int periode;
+        int drive_i;
+        float deg_diff(float Soll, float Ist);
         
 };
\ No newline at end of file