Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

Diff: PIDController.cpp

Revision:
4:4d54794b99a5
Parent:
3:2235787e78c4
Child:
6:9f9047ca4a89
--- a/PIDController.cpp	Tue Mar 29 12:54:12 2016 +0000
+++ b/PIDController.cpp	Tue Mar 29 14:33:57 2016 +0000
@@ -26,6 +26,7 @@
     integral += error * dt;
     float derivative = (error - prev_error) / dt;
     float out = Kp * error + Ki * integral + Kd * derivative;
+    //float out = Kp * error;
 
     prev_error = error;