fachrizi kiki / PID_lib

library to use pid easier

Diff: PID_lib.cpp

Revision:
5:ae183f132d39
Parent:
4:344e46625032
Child:
6:2006d78be349
--- a/PID_lib.cpp	Thu Dec 15 00:58:59 2022 +0000
+++ b/PID_lib.cpp	Sat Dec 31 07:13:29 2022 +0000
@@ -156,17 +156,18 @@
 //  pc.printf("%f;%1lu\n",pidPwm,t1.read_high_resolution_us());
 }
 
-void PID_lib::record_data(int dir_,float speed_, float freq_rec, float t_r){
+float PID_lib::record_data(int dir_,float speed_, float freq_rec, float t_r){
    rpm_rec = freq_rec/ppr*60;
        if(dir_ == 1){
          pwm = speed_;
-         dir1 = 1;
-         dir2 = 0;
+         dir1 = 0;
+         dir2 = 1;
        }else if(dir_ == 0){
          pwm = speed_;
          dir1 = 1;
          dir2 = 0;
        }
-       printf("%f;%.2f;%llu\n",speed_,rpm_rec,t_r);
+    return rpm_rec;
+    //    printf("%f;%.2f;%llu\n",speed_,rpm_rec,t_r);
 }