Jamie Bignell / Mbed 2 deprecated Nucleo_blink_led

test

Dependencies:   mbed

Dependents:   MouseHybridSenseCode

calculateFunc.cpp

Committer:
JamieBignell
Date:
2018-04-01
Revision:
6:a652deaae134
Parent:
5:dfea493f7a12
Child:
7:11dd5581c763

File content as of revision 6:a652deaae134:

#include <mbed.h>
#include <funcdef.h>

void calculateFunc()
{
    //USE ERROR TO CALCULATE PID VALUES
    Prop = errorVar;
    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)+(Kd*Dere)+(Ki*Inte);     
    newPIDs=PIDs;
    return; 
}