library to use pid easier
Diff: PID_lib.cpp
- Revision:
- 5:ae183f132d39
- Parent:
- 4:344e46625032
- Child:
- 6:2006d78be349
diff -r 344e46625032 -r ae183f132d39 PID_lib.cpp --- 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); }