Diff: controller.cpp

Revision:

29:8d588d554779

Parent:

24:d0ca537913c2

--- a/controller.cpp	Wed Oct 09 13:20:19 2019 +0000
+++ b/controller.cpp	Wed Oct 09 13:40:08 2019 +0000
@@ -1,23 +1,22 @@
 //Gains
-double e = 1.02; 
-double Ts = 0.92;
+extern float Ts;
+
+    //static double u_i = 0;
+    static float e_Prev = 0;
 
-    double K_p = 1;//Position gain
-    double K_i = 1;//Integral gain
-    double K_d = 1;//Diverentiation gain
+float ControllerPID(float e, float Ts)
+{
+    float K_p;
+    float K_i;
+    float K_d;
     
-    //static double u_i = 0;
-    static double e_Prev = 0;
-
-double ControllerPID(double e, double Ts)
-{
-    double u_p = K_p*e;               //Position action
-    double u_i = K_i*(e*Ts+u_i);      //Integral action
-    double u_d = K_d*((e-e_Prev)/Ts);   //Diverential action
+    float u_p = K_p*e;               //Position action
+    float u_i = K_i*(e*Ts+u_i);      //Integral action
+    float u_d = K_d*((e-e_Prev)/Ts);   //Diverential action
     
     e_Prev = e; //Write error to previous error
     
-    double u;
+    float u;
     
     u = u_p + u_i + u_d;