Better routing

2024-01-18 19:30:25 +07:00
parent 5dd404d44b
commit 2aa9648dd4
8 changed files with 247 additions and 29 deletions
--- a/Logic/PID.hpp
+++ b/Logic/PID.hpp
@@ -25,6 +25,11 @@ class PIDController : public GyverPID {
        }
    }

+    void setRotorDuty(uint32_t duty) {
+        /* Used only for test purposes */
+        _rotor->setDuty(duty);
+    }
+
    void save() {
        _preferences.putFloat("p", Kp);
        _preferences.putFloat("i", Ki);