.
Dependencies: L432KC_SPI_Pey_Lal
Diff: asservissement.cpp
- Revision:
- 115:156b8234f2de
- Parent:
- 113:2f8f255e99f2
--- a/asservissement.cpp Wed May 18 16:12:59 2022 +0000 +++ b/asservissement.cpp Wed May 18 18:07:09 2022 +0000 @@ -13,4 +13,10 @@ double correction = kp * error + ki * errorIntegral; double correctionPWM = SPEED_TO_PWM_TRANSFORM(correction); return limitToInterval(correctionPWM, 1000, 1500); +} + +void setPIDParameters(double kp_, double ki_) +{ + kp = kp_; + ki = ki_; } \ No newline at end of file