clean up main, disable some broken code

This commit is contained in:
2021-04-29 01:51:28 +02:00
parent c944c12fc1
commit e4b0ff8721
2 changed files with 33 additions and 19 deletions

4
pid.c
View File

@@ -2,7 +2,9 @@
#include "pid.h"
float pid_step(volatile struct pid* controller, float dt, float error) {
// Calculate p term
//TODO convert to integer; floats cause trouble ...
// Calculate p term
float p = error * controller->kP;
// Calculate i term