ケンタ ミヤザキ / PID

　

Dependents:   nhk_2018_undercarry_test04 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more

Diff: PID.cpp

Revision:
1:90e1008a1bf9
Parent:
0:d8b5fa590ca2
Child:
2:09a00a9407f8
--- a/PID.cpp	Tue Jan 16 14:27:31 2018 +0000
+++ b/PID.cpp	Wed Mar 14 05:36:29 2018 +0000
@@ -19,8 +19,8 @@
 }
 
 double PID::compute(double input){
-    dt = (timer.read() - preTime) / 10000;
-    preTime = timer.read();
+    dt = (timer.read_us() - preTime) / 10000;
+    preTime = timer.read_us();
     P  = Setpoint - input;
     I += P * dt;
     D  = (P - preP) / dt;