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Dependencies: Encoder HIDScope MODSERIAL QEI biquadFilter mbed
Diff: main.cpp
- Revision:
- 20:bdc62ee49197
- Parent:
- 19:c6dc35b4cc0c
- Child:
- 21:c75210216204
--- a/main.cpp Thu Oct 08 10:42:24 2015 +0000
+++ b/main.cpp Thu Oct 08 12:14:00 2015 +0000
@@ -164,10 +164,7 @@
pwm_motor_turn_D = error_derivative_turn*Gain_D_turn; // output D controller to pwm
pwm_to_motor_turn = pwm_motor_turn_P + pwm_motor_turn_I + pwm_motor_turn_D;
-
-//
-// double pwm_to_motor_turn = pwm_motor_turn_P + pwm_motor_turn_I + pwm_motor_turn_D; // Total output PID controller to pwm
-//
+
// Keep Pwm between -1 and 1
keep_in_range(&pwm_to_motor_turn, -1,1); // Pass to motor controller but keep it in range!
