Ahmed Allibhoy / Mbed 2 deprecated MM_Competition

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Dependencies:   QEI mbed

Diff: pid.cpp

Revision:
1:45f1f67eab62
Child:
4:d59328f14363
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid.cpp	Wed Dec 02 16:47:26 2015 +0000
@@ -0,0 +1,26 @@
+#include "pid.h"
+
+void PIDController::onLoop()
+{
+    float error = (m_error)();
+    (m_out)(m_Kp * error + m_Ki * iController(error) + m_Kd * dController(error));
+    wait(m_dt);
+}
+
+float PIDController::iController(float error)
+{
+    m_integral += error;
+    return m_integral;
+}
+
+float PIDController::dController(float error)
+{
+    float derivative = error - m_pError;
+    m_pError = error;
+    return derivative; 
+}
+
+void PIDController::reset()
+{
+    m_integral = 0;
+}
\ No newline at end of file