Kiko Ishimoto / PIDonerobot

pid

Dependents:   OneCircleRobot

Fork of PID by Kiko Ishimoto

Diff: PID.h

Revision:
2:14176355508a
Parent:
1:aac6180820a4
Child:
3:34f4f22b18e7
--- a/PID.h	Fri Jun 19 06:36:10 2015 +0000
+++ b/PID.h	Tue Jul 21 08:12:24 2015 +0000
@@ -9,8 +9,8 @@
         
         PID(float tauKc, float tauKi, float tauKd);
     
-        void PIDctrl(void);
-        void start();
+        double s_dErrIntg ,dErr_prev;
+        void Start();
         void setInterval(double inter);
         //Getters.
         void stop();    
@@ -24,6 +24,7 @@
         Timer timer;
         Ticker T;
         float interval;
+        void PIDctrl();
         
 };