Diff: MD_PID.cpp

Revision:

8:16a31803a60d

Parent:

4:374ca057d8d5

Child:

9:63e5f9d30ec0

--- a/MD_PID.cpp	Sat Aug 05 02:34:14 2017 +0000
+++ b/MD_PID.cpp	Wed Aug 30 05:23:00 2017 +0000
@@ -5,20 +5,20 @@
 
 MD_PID::MD_PID()
 {
-    ref1 = 0;   
+    ref1 = 0;
 }
 
 MD_PID::MD_PID(MD *md_, double kp_, double ki_, double kd_, int pulse_, QEI *qei_)
 {
     md = md_;
     qei = qei_;
-    
+
     ref1 = 0;
     kp = kp_;
     ki = ki_;
     kd = kd_;
     pulse = pulse_;
-    
+
     Reset();
 }
 
@@ -45,16 +45,16 @@
         }
         else
             duty = ref;
-            
+
         if(duty > 1.0)
             duty = 1.0;
         else if(duty < -1.0)
             duty = -1.0;
     }
-    
+
     if( ( (ref >= 0) ^ (Speed() >= 0) ) && fabs(Speed()) > stop)
         duty = 0;
-    
+
     md->rotate(duty);
     return duty;
 }
@@ -108,7 +108,7 @@
     md->rotate(-1);
     for(int i = 0; i < 200; i++){
         PID(0);
-        time[i] = ST.read(); 
+        time[i] = ST.read();
         speed[i] = Speed();
         wait(interval);
     }
@@ -118,8 +118,8 @@
     }
 }
 
-MD_PID* Create_MD_PID(  PinName channelA, PinName channelB, PinName index, int pulsesPerRev,QEI::Encoding encoding, 
-                        double kp_, double ki_, double kd_, int pulse_, 
+MD_PID* Create_MD_PID(  PinName channelA, PinName channelB, PinName index, int pulsesPerRev,QEI::Encoding encoding,
+                        double kp_, double ki_, double kd_, int pulse_,
                         PinName pwm, PinName dere)
 {
     QEI *qei = new QEI (channelA, channelB, index, pulsesPerRev, encoding);