Yeongsoo Kim / Mbed 2 deprecated Mecha_Speed_control

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Dependencies:   mbed

Diff: Controller/SpeedController.cpp

Revision:
1:d7a26e14bc4d
Parent:
0:c88a81d07287
Child:
2:8a7b4b3cb4c1
--- a/Controller/SpeedController.cpp	Wed Nov 06 01:17:46 2019 +0000
+++ b/Controller/SpeedController.cpp	Tue Nov 10 13:35:03 2020 +0000
@@ -27,21 +27,19 @@
 
 float PIDController::update(float measured_value, float timestamp)
 {
+    // TODO
+    // Fill in the blank
+    
     float delta_time = timestamp - m_last_timestamp;
-//    if(delta_time < 0.001) return 0;
-    float error = m_set_point - measured_value;
+    float error = /* fill in the blank */;
+    
     m_last_timestamp = timestamp;
     
-//    float q;
-//    if(error>200) {
-//        q=0.0;
-//    } else {
-//        q=1.0;
-//    }
-//    m_error_sum += error*delta_time*q;
-
-    m_error_sum += error*delta_time;
-    float delta_error = error - m_last_error;
+    
+    m_error_sum = /* fill in the blank */;
+    
+    float delta_error = /* fill in the blank */;
+    
     if(delta_error > 10.0) {
         delta_error = 0.0;
     }