Jamie Bignell
test
Dependents: MouseHybridSenseCode
calculateFunc.cpp@5:dfea493f7a12, 2018-03-11 (annotated)
- Committer:
- JamieBignell
- Date:
- Sun Mar 11 13:15:34 2018 +0000
- Revision:
- 5:dfea493f7a12
- Child:
- 6:a652deaae134
11/03/18 First final 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 | 5:dfea493f7a12 | 8 | //Inte = Inte + errorVar; |
| JamieBignell | 5:dfea493f7a12 | 9 | //Dere = ((errorVar - previousError); |
| JamieBignell | 5:dfea493f7a12 | 10 | |
| JamieBignell | 5:dfea493f7a12 | 11 | //THIS IS CALLED HERE BECAUSE WE NEED TO USE PREVIOUS ERROR BEFORE IT'S OVERWRITTEN |
| JamieBignell | 5:dfea493f7a12 | 12 | //errorAccumulate(); |
| JamieBignell | 5:dfea493f7a12 | 13 | |
| JamieBignell | 5:dfea493f7a12 | 14 | //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 | 15 | previousError=errorVar; |
| JamieBignell | 5:dfea493f7a12 | 16 | |
| JamieBignell | 5:dfea493f7a12 | 17 | //FORMULATE OFFSET VALUE FROM ERROR, PID VALUES AND CONSTANTS |
| JamieBignell | 5:dfea493f7a12 | 18 | PIDs = (Kp*Prop);// + (Ki*Inte) + (Kd*Dere); |
| JamieBignell | 5:dfea493f7a12 | 19 | return; |
| JamieBignell | 5:dfea493f7a12 | 20 | } |