Noam Nahum / mypidror1

for dror

Dependents:   NewpidDror Recieverdror Trancieverdror CANrecive

Files at this revision

API Documentation at this revision

Revision 7:8cf84b634c66, committed 2020-01-07

Comitter:
noamnahum
Date:
Tue Jan 07 08:57:34 2020 +0000
Parent:
6:f5c84347bfca
Commit message:
done

Changed in this revision

PID.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r f5c84347bfca -r 8cf84b634c66 PID.cpp
--- 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(){