Diff: motor.h

Revision:

3:94db629c0a83

Parent:

2:3faf5dcde08f

Child:

4:2b77f4656e92

Child:

5:99fa6dffea40

--- a/motor.h	Sat Sep 14 16:22:37 2013 +0000
+++ b/motor.h	Sat Sep 14 17:18:51 2013 +0000
@@ -9,7 +9,7 @@
 public:
     Motor(PinName PWMpin, PCA9555 *ioExt, unsigned int dir1Pin, unsigned int dir2Pin, PinName encA, PinName encB);
  
-    void setPWM(float newPWM);
+    void setPWM(int newPWM);
     void setSpeed(int newSpeed);
     int getSpeed();
     void pid();
@@ -29,15 +29,17 @@
     //void pid();
     
     int setPoint;
-    float pMulti;
-    float iMulti;
-    float dMulti;
-    float error;
-    float prevError;
-    float P;
-    float I;
-    float D;
-    float minPwm;
+    int pMulti;
+    int iDiv;
+    int dMulti;
+    int error;
+    int prevError;
+    int P;
+    int I;
+    int D;
+    int minPwm;
+    int pidMulti;
+    int iMax;
 };
 
 #endif
\ No newline at end of file