Diff: motor.h

Revision:

4:a629f46d6594

Parent:

1:911f5a86c105

Child:

5:15d0276d7e21

--- a/motor.h	Thu May 23 08:53:19 2019 +0000
+++ b/motor.h	Thu May 23 23:02:14 2019 +0000
@@ -27,12 +27,13 @@
         void setTarget(int spd);
         void setPID(float p, float i, float d);
         void setDirection(); // set the direction
-    
+        
         //Control Methods
         void UpdateCurrentPosition();
         void PIDControl();
         void Reset(void);
 
+
         
     private:
         PwmOut _pwm;
@@ -42,7 +43,7 @@
         Ticker _tick;
         
         long CurrentPosition, PreviousPosition; // Position Value
-        int TargetSpeed, CurrentSpeed, Error,PreviousError; // Speed Data
+        int CurrentSpeed, Error,PreviousError; // Speed Data
         unsigned int duty; // Duty level ( 0-1024)
         unsigned int pwmPeriod; // default 50ms
         unsigned char pwmpin; // PB2 ( 10 )
@@ -55,6 +56,7 @@
         unsigned char cpidx;
         float CalculateRPM(int DeltaCnt); // Calculate RPM value
         float vel;
+        int TargetSpeed;
 
 };
 #endif