Peter Knoben / PIDController

PID

Dependents:   kinematics_control kinematics_controlv2 kinematics_controlv4 kinematics_control_copyfds ... more

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API Documentation at this revision

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 
diff -r b076b5e36978 -r c7f0b343df31 PIDControl.cpp
--- 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);