Motor
Fork of Motor by
Diff: motor.h
- Revision:
- 3:94db629c0a83
- Parent:
- 2:3faf5dcde08f
- Child:
- 4:2b77f4656e92
- Child:
- 5:99fa6dffea40
diff -r 3faf5dcde08f -r 94db629c0a83 motor.h --- 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