fachrizi kiki / PID_lib

library to use pid easier

Diff: PID_lib.cpp

Revision:
8:07de6805e193
Parent:
7:cb9ae21d3cbb
Child:
9:2304689cab4a
--- a/PID_lib.cpp	Sat Dec 31 09:59:09 2022 +0000
+++ b/PID_lib.cpp	Sat Dec 31 10:07:26 2022 +0000
@@ -156,7 +156,7 @@
 float PID_lib::record_data(int dir_,float speed_, float freq_rec, float t_r){
 //    rpm_rec = freq_rec/ppr*60;
       rpm_rec = freq_rec*60/ppr;
-      rpmFilt = 0.03046875*rpm + 0.03046875*rpmn1 + 0.93906251*rpmFiltn1;//10 hz
+      rpmFilt = 0.03046875*rpm_rec + 0.03046875*rpmn1 + 0.93906251*rpmFiltn1;//10 hz
        if(dir_ == 1){
          pwm = speed_;
          dir1 = 0;
@@ -166,6 +166,8 @@
          dir1 = 1;
          dir2 = 0;
        }
+        
+      rpmn1 = rpm_rec;rpmFiltn1 = rpmFilt;
     return rpmFilt;
     //    printf("%f;%.2f;%llu\n",speed_,rpm_rec,t_r);
 }