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simple test of porportional part of pid

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Brendan Haines
2015-02-21 19:02:33 -07:00
parent c99551a422
commit 187ee6eb84
4 changed files with 91 additions and 31 deletions
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14
CopterController/Makefile
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@@ -1,12 +1,13 @@
all: pid.o I2Cdev.o MPU6050.o PCA9685.o PCA9685tester pidTest
all: PID.o I2Cdev.o MPU6050.o PCA9685.o echoServerAdvanced PCA9685tester main
#pidTest MPU6050dmp_tester PCA9685tester
HDRS = pid.h helper_3dmath.h I2Cdev.h MPU6050_6Axis_MotionApps20.h MPU6050.h PCA9685.h PCA9685_Addresses.h
HDRS = PID.h helper_3dmath.h I2Cdev.h MPU6050_6Axis_MotionApps20.h MPU6050.h PCA9685.h PCA9685_Addresses.h
CXXFLAGS = -DDMP_FIFO_RATE=9 -Wall -lwiringPi
pid.o pidTest.o I2Cdev.o MPU6050.o MPU6050dmp_tester.o PCA9685.o PCA9685tester.o: $(HDRS)
I2Cdev.o MPU6050.o PCA9685.o PID.o: $(HDRS)
MPU6050dmp_tester.o PCA9685tester.o echoServerAdvanced.o main.o: $(HDRS)
pidTest: pidTest.o pid.o PCA9685.o I2Cdev.o MPU6050.o
main: main.o PID.o PCA9685.o I2Cdev.o MPU6050.o
$(CXX) $^ -lwiringPi -o $@
MPU6050dmp_tester: I2Cdev.o MPU6050.o MPU6050dmp_tester.o
@@ -15,5 +16,8 @@ MPU6050dmp_tester: I2Cdev.o MPU6050.o MPU6050dmp_tester.o
PCA9685tester: PCA9685.o PCA9685tester.o
$(CXX) $^ -lwiringPi -o $@
echoServerAdvanced: echoServerAdvanced.o PCA9685.o
$(CXX) $^ -lwiringPi -o $@
clean:
rm I2Cdev.o MPU6050.o MPU6050dmp.o MPU6050dmp_tester.o MPU6050dmp_tester pid.o pidTest.o pidTest PCA9685tester
rm I2Cdev.o MPU6050.o MPU6050dmp.o MPU6050dmp_tester.o MPU6050dmp_tester PID.o main.o main PCA9685tester