for dror
Dependents: NewpidDror Recieverdror Trancieverdror CANrecive
Diff: PID.cpp
- Revision:
- 7:8cf84b634c66
- Parent:
- 4:4ed1f5bccac8
--- a/PID.cpp Wed Dec 25 08:54:57 2019 +0000 +++ b/PID.cpp Tue Jan 07 08:57:34 2020 +0000 @@ -11,7 +11,7 @@ _kp = kp; _ki = ki*Ts; // Roll sample time into gain _kd = kd / Ts; // Roll sample time into gain - + _setpoint = setpoint; _feedback = feedback; _output = output; @@ -68,7 +68,7 @@ } */ if(-0.00001 <= _ki && _ki <= 0.00001) i_accumulator = 0; - sample_timer.attach(this, &PID::sample, _Ts); + } void PID::stop(){