Ahmed Allibhoy / Mbed 2 deprecated MM_Competition

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Dependencies:   QEI mbed

Diff: pid.cpp

Revision:
11:8faa068940f1
Parent:
10:332a4ad5911d
--- a/pid.cpp	Sat Dec 05 00:41:23 2015 +0000
+++ b/pid.cpp	Sat Dec 05 02:07:16 2015 +0000
@@ -1,29 +1,3 @@
-//#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;
-//}
 
 
 #include "pid.h"
@@ -133,4 +107,31 @@
 float ctrl::getR(){
     return RErr;
     
-    }
\ No newline at end of file
+    }
+    
+//#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;
+//}