Reiko Randoja / Motor

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Diff: motor.h

Revision:
2:3faf5dcde08f
Parent:
1:c97f8bcd6c0f
Child:
3:94db629c0a83
--- a/motor.h	Sat Aug 31 15:58:46 2013 +0000
+++ b/motor.h	Sat Sep 14 16:22:37 2013 +0000
@@ -24,15 +24,20 @@
     int currentSpeed;
     int getDecoderCount();
     
+    void resetPID();
+    
     //void pid();
     
     int setPoint;
     float pMulti;
     float iMulti;
-    int error;
-    int prevError;
+    float dMulti;
+    float error;
+    float prevError;
     float P;
     float I;
+    float D;
+    float minPwm;
 };
 
 #endif
\ No newline at end of file