fachrizi kiki / PID_lib

library to use pid easier

Diff: PID_lib.cpp

Revision:
7:cb9ae21d3cbb
Parent:
6:2006d78be349
Child:
8:07de6805e193
--- a/PID_lib.cpp	Sat Dec 31 09:33:52 2022 +0000
+++ b/PID_lib.cpp	Sat Dec 31 09:59:09 2022 +0000
@@ -156,6 +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
        if(dir_ == 1){
          pwm = speed_;
          dir1 = 0;
@@ -165,7 +166,7 @@
          dir1 = 1;
          dir2 = 0;
        }
-    return rpm_rec;
+    return rpmFilt;
     //    printf("%f;%.2f;%llu\n",speed_,rpm_rec,t_r);
 }