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| author | Roy Ben-Shabat <Roy@Twine-s.com> | 2018-12-13 17:36:26 +0200 |
|---|---|---|
| committer | Roy Ben-Shabat <Roy@Twine-s.com> | 2018-12-13 17:36:26 +0200 |
| commit | b279560f0b4dfdd16dea6b70975dfc1961b8d61e (patch) | |
| tree | ed4da72f9f77cc9dbec7405533e331ed9dc074ea /Software/Embedded_SW/Embedded/Modules/Control | |
| parent | 97ea085d1fac43aedc5258486ef355eb13abc195 (diff) | |
| parent | 677b58ea79beb4a6ff4643b7099f0eeb7b9c3a64 (diff) | |
| download | Tango-b279560f0b4dfdd16dea6b70975dfc1961b8d61e.tar.gz Tango-b279560f0b4dfdd16dea6b70975dfc1961b8d61e.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c | 2 |
1 files changed, 0 insertions, 2 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c index 72774461a..f9aee7929 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c @@ -52,8 +52,6 @@ float AdvancedPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_ } derivative = (error - *_pre_error)/params->dt; - float IntegralErrorMultiplier; - float ProportionalErrorMultiplier; output = params->Kp*error/params->ProportionalErrorMultiplier + params->Ki**_integral/params->IntegralErrorMultiplier + params->Kd*derivative; |