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Dependents: kinematics_control kinematics_controlv2 kinematics_controlv4 kinematics_control_copyfds ... more
Revision 1:c7f0b343df31, committed 2017-11-02
- Comitter:
- peterknoben
- Date:
- Thu Nov 02 15:08:48 2017 +0000
- Parent:
- 0:b076b5e36978
- Commit message:
- Working
Changed in this revision
| PIDControl.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/PIDControl.cpp Thu Oct 26 10:53:46 2017 +0000
+++ b/PIDControl.cpp Thu Nov 02 15:08:48 2017 +0000
@@ -6,6 +6,7 @@
}
+//------------------------------------------------------------------------------
//Calculate the value after PID control.
double PIDControl::get(float error, const float Kp, const float Ki, const float Kd, const float Ts, const float N, double &v1, double &v2) {
const double a1 = -4 / (N*Ts+2);