Kim Bruil / Mbed 2 deprecated r_robot

robot positie error test ding

Dependencies:   MODSERIAL mbed EMG_Input QEI biquadFilter

Diff: Motor/motor.cpp

Revision:
10:27fdd43f3b85
Parent:
9:19dafcb4a098
Child:
11:4382c567e0d4
--- a/Motor/motor.cpp	Thu Oct 27 19:36:12 2016 +0000
+++ b/Motor/motor.cpp	Fri Oct 28 06:51:13 2016 +0000
@@ -8,10 +8,10 @@
     bq2(1.839030E-01, 3.678060E-01, 1.839030E-01, 1.000000E+00, -3.289757E-01, 6.458765E-02),
     P(p), I(i), D(d){
         flip = flipped;
-        position = 0;
         integral = 0;
         olderr = 0;
         bqc.add(&bq1).add(&bq2);
+        pwm.period_ms(2);
         sense.reset();
 }
 
@@ -28,6 +28,7 @@
 void motor::PID(double setpoint, double dt){
     double error;
     double derivative;
+    double position;
     double pid;
     
     position = flip?-this->getPosition():this->getPosition();