Jamie Bignell / Mbed 2 deprecated Nucleo_blink_led

Dependencies:   mbed

Dependents:   MouseHybridSenseCode

calculateFunc.cpp

Committer:
JamieBignell
Date:
2018-03-11
Revision:
5:dfea493f7a12
Child:
6:a652deaae134

File content as of revision 5:dfea493f7a12:

#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; 
}