Diff: main.cpp

Revision:

9:3278558361a5

Parent:

8:80cb1f5d561e

Child:

10:1d8b21515ed1

--- a/main.cpp	Thu Sep 17 12:18:40 2015 +0000
+++ b/main.cpp	Thu Sep 17 12:33:42 2015 +0000
@@ -4,7 +4,7 @@
 
 // Define the HIDScope and Ticker object
 HIDScope    scope(1);
-Ticker      scopeTimer;
+Ticker      scopeTime;
 
 // Define Encoder
 
@@ -28,17 +28,16 @@
 
 
 // Error measurement and apply the output to the plant
-double motorP_Controller()
+void motorP_Controller()
     {
         double reference_position = potmeter1.read();
         double position = Convert_volt_to_position*encoder1.getPosition();
-        return P(reference_position-position, motorP_Kp);
+        double motorP = P(reference_position-position, motorP_Kp);
     }
     
 int main()
     {
-        motorP = motorP_Controller();
-        motorP.attach(&motorP_Controller,0.01f); //100Hz
+        motorP.attach(&motorP_Controller, 0.01f); //100Hz
         while(1){}
     }