Ruprecht Altenburger / Mbed OS TPixy-Interface

SPI read Pixi Cam V1

Diff: Pixy.cpp

Revision:
5:d109b094d4bb
Parent:
4:478d4d9193a1
diff -r 478d4d9193a1 -r d109b094d4bb Pixy.cpp
--- a/Pixy.cpp	Mon Aug 23 11:26:37 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,25 +0,0 @@
-#include "Pixy.h"
-
-ServoLoop::ServoLoop(int32_t pgain, int32_t dgain)
-{
-    m_pos = PIXY_RCS_CENTER_POS;
-    m_pgain = pgain;
-    m_dgain = dgain;
-    m_prevError = 0x80000000L;
-}
-
-void ServoLoop::update(int32_t error)
-{
-    long int vel;
-    if (m_prevError != 0x80000000) {
-        vel = (error*m_pgain + (error - m_prevError)*m_dgain) >> 10;
-        m_pos += vel;
-        if (m_pos > PIXY_RCS_MAX_POS) {
-            m_pos = PIXY_RCS_MAX_POS;
-        } else if (m_pos < PIXY_RCS_MIN_POS) {
-            m_pos = PIXY_RCS_MIN_POS;
-        }
-    }
-    m_prevError = error;
-}
-