test
Dependents: MouseHybridSenseCode
calculateFunc.cpp@6:a652deaae134, 2018-04-01 (annotated)
- Committer:
- JamieBignell
- Date:
- Sun Apr 01 18:21:50 2018 +0000
- Revision:
- 6:a652deaae134
- Parent:
- 5:dfea493f7a12
- Child:
- 7:11dd5581c763
working version
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| JamieBignell | 5:dfea493f7a12 | 1 | #include <mbed.h> |
| JamieBignell | 5:dfea493f7a12 | 2 | #include <funcdef.h> |
| JamieBignell | 5:dfea493f7a12 | 3 | |
| JamieBignell | 5:dfea493f7a12 | 4 | void calculateFunc() |
| JamieBignell | 5:dfea493f7a12 | 5 | { |
| JamieBignell | 5:dfea493f7a12 | 6 | //USE ERROR TO CALCULATE PID VALUES |
| JamieBignell | 5:dfea493f7a12 | 7 | Prop = errorVar; |
| JamieBignell | 6:a652deaae134 | 8 | Inte = Inte + errorVar; |
| JamieBignell | 6:a652deaae134 | 9 | Dere = ((errorVar) - (previousError)); |
| JamieBignell | 5:dfea493f7a12 | 10 | |
| JamieBignell | 5:dfea493f7a12 | 11 | //BECAUSE THE CURRENT ERROR IS CALCULATED IN A FUNCTION BEFORE THIS, ON THE NEXT ITERATION WE WANT TO REMEMBER THE PREVIOUS VARIABLE |
| JamieBignell | 5:dfea493f7a12 | 12 | previousError=errorVar; |
| JamieBignell | 5:dfea493f7a12 | 13 | |
| JamieBignell | 5:dfea493f7a12 | 14 | //FORMULATE OFFSET VALUE FROM ERROR, PID VALUES AND CONSTANTS |
| JamieBignell | 6:a652deaae134 | 15 | PIDs = (Kp*Prop)+(Kd*Dere)+(Ki*Inte); |
| JamieBignell | 6:a652deaae134 | 16 | newPIDs=PIDs; |
| JamieBignell | 5:dfea493f7a12 | 17 | return; |
| JamieBignell | 5:dfea493f7a12 | 18 | } |