Diff: main.cpp

Revision:

49:7ae21c58ba92

Parent:

48:5b1b90260239

Child:

50:43ead068c523

--- a/main.cpp	Sun Nov 02 14:13:22 2014 +0000
+++ b/main.cpp	Sun Nov 02 14:14:35 2014 +0000
@@ -27,7 +27,7 @@
 void Calibratie_Triceps();
 void Calibratie_Biceps();
 float pid(float setspeed, float measurement, bool reset = false);
-float pidpositie(float setposition, float measurement, bool reset = false);  //------------------,bool reset = false toegevoegd
+float pidpositie(float setposition, float measurement);
 void motor2aansturing();
 void motor1aansturing();
 void motor1aansturingdeel2();
@@ -474,17 +474,13 @@
     return out_p + out_i + out_d;
 }
 
-float pidpositie(float setposition, float measurement, bool reset ) //----------------------------bool reset toegevoegd
+float pidpositie(float setposition, float measurement)
 {
     float error;
     static float prev_error = 0;
     float           out_p = 0;
     static float    out_i = 0;
     float           out_d = 0;
-    if(reset==true) {//-------------------------------------------------------------------if reset stukje toegevoegd
-        out_i = 0;
-        prev_error = 0;
-    }
     error  = setposition-measurement;
     out_p  = error*K_Pp;
     out_i += error*K_Ip;