Diff: calculateFunc.cpp

Revision:

6:a652deaae134

Parent:

5:dfea493f7a12

Child:

7:11dd5581c763

--- a/calculateFunc.cpp	Sun Mar 11 13:15:34 2018 +0000
+++ b/calculateFunc.cpp	Sun Apr 01 18:21:50 2018 +0000
@@ -5,16 +5,14 @@
 {
     //USE ERROR TO CALCULATE PID VALUES
     Prop = errorVar;
-    //Inte = Inte + errorVar;
-    //Dere = ((errorVar - previousError);
-    
-    //THIS IS CALLED HERE BECAUSE WE NEED TO USE PREVIOUS ERROR BEFORE IT'S OVERWRITTEN
-    //errorAccumulate();
+    Inte = Inte + errorVar;
+    Dere = ((errorVar) - (previousError));
     
     //BECAUSE THE CURRENT ERROR IS CALCULATED IN A FUNCTION BEFORE THIS, ON THE NEXT ITERATION WE WANT TO REMEMBER THE PREVIOUS VARIABLE
     previousError=errorVar;
     
     //FORMULATE OFFSET VALUE FROM ERROR, PID VALUES AND CONSTANTS
-    PIDs = (Kp*Prop);// + (Ki*Inte) + (Kd*Dere);     
+    PIDs = (Kp*Prop)+(Kd*Dere)+(Ki*Inte);     
+    newPIDs=PIDs;
     return; 
 }
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