Fix pid timing problem

misan · Jul 18, 2016 · 814ea9d · 814ea9d
1 parent d458dcc
commit 814ea9d
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/dcservoProMicro_trapezoidal.ino b/dcservoProMicro_trapezoidal.ino
@@ -89,7 +89,7 @@ void loop() {
   vel =  encoder0Pos - input;
   input = encoder0Pos;
   setpoint = target1;
-  myPID.Compute();
+  while(!myPID.Compute()); // wait till PID is actually computed
   setspeed = output;
   if (Serial.available()) process_line(); // it may induce a glitch to move motion, so use it sparingly
   if (auto1) if (millis() % 1000 == 0) trapezoidal(random(6000)); //target1 = random(2000); // that was for self test with no input from main controller