広田 勇斗 / MD_PID

Dependencies:   QEI

Dependents:   Omni_2017_z BETA_A ALPHA_A GAMMA_A ... more

Revision:
9:63e5f9d30ec0
Parent:
8:16a31803a60d
Child:
10:2351419aff1b
diff -r 16a31803a60d -r 63e5f9d30ec0 MD_PID.cpp
--- a/MD_PID.cpp	Wed Aug 30 05:23:00 2017 +0000
+++ b/MD_PID.cpp	Wed Sep 13 02:10:48 2017 +0000
@@ -55,6 +55,7 @@
     if( ( (ref >= 0) ^ (Speed() >= 0) ) && fabs(Speed()) > stop)
         duty = 0;
 
+    printf("duty:%.2f\r\n", duty);
     md->rotate(duty);
     return duty;
 }