Gunar Kroeger / Mbed OS PID_floating_ball

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Dependencies:   TextLCD

Fork of mbed-os-example-mbed5-blinky by mbed-os-examples

Diff: pid.h

Revision:
42:b69538bba4f9
Parent:
40:19d51f6e6800
--- a/pid.h	Tue Jul 04 16:36:18 2017 +0000
+++ b/pid.h	Wed Jul 05 21:05:56 2017 +0000
@@ -68,11 +68,11 @@
             //I term
             integrator += errorValue;
             
-            double I = (Ki/60.0) * integrator;
+            double I = (Ki/6000.0) * integrator;
             
             if(I > maxInteg || I < minInteg)
-                led2 = 1;
-            else led2 = 0;
+                led2.write(1);
+            else led2.write(0);
             
             I = I>maxInteg? maxInteg : I;
             I = I<minInteg? minInteg : I;