Dependents: MouseHybridSenseCode
Diff: calculateFunc.cpp
- Revision:
- 5:dfea493f7a12
- Child:
- 6:a652deaae134
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/calculateFunc.cpp Sun Mar 11 13:15:34 2018 +0000
@@ -0,0 +1,20 @@
+#include <mbed.h>
+#include <funcdef.h>
+
+void calculateFunc()
+{
+ //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();
+
+ //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);
+ return;
+}
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