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Dependents: NewpidDror Recieverdror Trancieverdror CANrecive
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 |
--- 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(){