From 2f5b292d50e35c817942950f2e04fabde6acc5a5 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Thu, 16 Aug 2012 22:37:26 -0700 Subject: [PATCH] uncrustify libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde --- .../examples/AC_PID_test/AC_PID_test.pde | 54 +++++++++---------- 1 file changed, 27 insertions(+), 27 deletions(-) diff --git a/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde b/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde index 3deb76cafa..a155e8890d 100644 --- a/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde +++ b/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde @@ -1,7 +1,7 @@ /* - Example of PID library. - 2012 Code by Jason Short, Randy Mackay. DIYDrones.com -*/ + * Example of PID library. + * 2012 Code by Jason Short, Randy Mackay. DIYDrones.com + */ // includes #include @@ -26,39 +26,39 @@ APM_RC_APM1 APM_RC; // setup function void setup() { - Serial.begin(115200); - Serial.println("ArduPilot Mega AC_PID library test"); + Serial.begin(115200); + Serial.println("ArduPilot Mega AC_PID library test"); - isr_registry.init(); - APM_RC.Init(&isr_registry); // APM Radio initialization + isr_registry.init(); + APM_RC.Init(&isr_registry); // APM Radio initialization - delay(1000); + delay(1000); } // main loop void loop() { - // setup (unfortunately must be done here as we cannot create a global AC_PID object) - AC_PID pid(0, PSTR("TESTPID_"), TEST_P, TEST_I, TEST_D, TEST_IMAX * 100); - uint16_t radio_in; - uint16_t radio_trim; - int error; - int control; - float dt = 1000/50; + // setup (unfortunately must be done here as we cannot create a global AC_PID object) + AC_PID pid(0, PSTR("TESTPID_"), TEST_P, TEST_I, TEST_D, TEST_IMAX * 100); + uint16_t radio_in; + uint16_t radio_trim; + int error; + int control; + float dt = 1000/50; - // display PID gains - Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax()); + // display PID gains + Serial.printf("P %f I %f D %f imax %f\n", pid.kP(), pid.kI(), pid.kD(), pid.imax()); - // capture radio trim - radio_trim = APM_RC.InputCh(0); + // capture radio trim + radio_trim = APM_RC.InputCh(0); - while( true ) { - radio_in = APM_RC.InputCh(0); - error = radio_in - radio_trim; - control = pid.get_pid(error, dt); + while( true ) { + radio_in = APM_RC.InputCh(0); + error = radio_in - radio_trim; + control = pid.get_pid(error, dt); - // display pid results - Serial.printf("radio: %d\t err: %d\t pid:%d\n", radio_in, error, control); - delay(50); - } + // display pid results + Serial.printf("radio: %d\t err: %d\t pid:%d\n", radio_in, error, control); + delay(50); + } } \ No newline at end of file