Diff: PID.cpp

Revision:

5:07bbe020eb65

Parent:

4:b37fd183e46a

--- a/PID.cpp	Sat Jul 09 20:41:49 2016 +0000
+++ b/PID.cpp	Tue Jul 26 17:22:33 2016 +0000
@@ -55,7 +55,8 @@
 	  
       
       double error = *mySetpoint - input;
-      pt.printf("pid1: %f, %f, %f, %f\n\r", error,  error, *mySetpoint, input);
+      //pt.printf("pid1: %f, %f, %f, %f\n\r", error,  error, *mySetpoint, input);
+      
       ITerm+= (ki * error);
       if(ITerm > outMax) ITerm= outMax;
       else if(ITerm < outMin) ITerm= outMin;
@@ -64,13 +65,13 @@
       /*Compute PID Output*/
       double output = kp * error + ITerm- kd * dInput;
       
-      pt.printf("pid2: %f, %f, %f, %f, %f\n\r", error, output, *mySetpoint, input, ITerm);
+      //pt.printf("pid2: %f, %f, %f, %f, %f\n\r", error, output, *mySetpoint, input, ITerm);
       
 	  if(output > outMax) output = outMax;
       else if(output < outMin) output = outMin;
 	  *myOutput = output;
 	  
-      pt.printf("pid3: %f, %f, %f, %f, %f\n\r", error, output, *mySetpoint, input, ki);
+      //pt.printf("pid3: %f, %f, %f, %f, %f\n\r", error, output, *mySetpoint, input, ki);
 	  
       /*Remember some variables for next time*/
       lastInput = input;