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Updates:

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- Re-located repairprocessrow information in dedicated object
- added error conditions to repair row and added condition handling to repair process

git-svn-id: https://svn.vbchaos.nl/svn/hsb/trunk@260 05563f52-14a8-4384-a975-3d1654cca0fa
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mmi
2017-10-23 09:02:13 +00:00
parent aa9ba5ea8e
commit e3ca058c96
30 changed files with 1348 additions and 323 deletions
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1
S - Software/0 - HSB MRTS Kathode-MCP/3 - Implementation/0 - Code/HAL/src/PID.c
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@@ -122,7 +122,6 @@ int PID_calculate(struct Pid* self, int error)
// Calculate proportional
pTerm = (self->Kp * error);
LOGGER_WARNING(mainLog, "pTerm %d, iTerm %d, Kp %d, Ki %d, error %d", pTerm, self->iTerm, self->Kp, self->Ki, error);
returnValue = (self->iTerm + dTerm + pTerm) / PID_FIXED_POINT_FACTOR;
self->input_d1 = error;