PID Library Brought in from the PID Arduino Library
Dependents: Basic_PID wheelchaircontrol wheelchaircontrolRosCom wheelchaircontrol ... more
Diff: PID.h
- Revision:
- 2:60801ab3cbf9
- Parent:
- 0:58f3a6c65ad5
diff -r 37c3ab46d475 -r 60801ab3cbf9 PID.h --- a/PID.h Tue Aug 28 23:24:01 2018 +0000 +++ b/PID.h Fri Aug 31 17:09:28 2018 +0000 @@ -13,7 +13,7 @@ #define P_ON_M 0 #define P_ON_E 1 Timer PIDtimer; - PID(double* Input, double* Output, double* Setpoint, + PID(volatile double* Input, volatile double* Output, volatile double* Setpoint, double Kp, double Ki, double Kd, int POn, int ControllerDirection); void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0) @@ -66,9 +66,9 @@ int controllerDirection; int pOn; - double *myInput; // * Pointers to the Input, Output, and Setpoint variables - double *myOutput; // This creates a hard link between the variables and the - double *mySetpoint; // PID, freeing the user from having to constantly tell us + volatile double *myInput; // * Pointers to the Input, Output, and Setpoint variables + volatile double *myOutput; // This creates a hard link between the variables and the + volatile double *mySetpoint; // PID, freeing the user from having to constantly tell us // what these values are. with pointers we'll just know. double lastTime;