Revision 71780e9c
ID | 71780e9c3f71dc76792785ada940cacd83cda58e |
tested pid_control and fixed it. added the test file for future reference
control/pid_control.h | ||
---|---|---|
4 | 4 |
class PID_control |
5 | 5 |
{ |
6 | 6 |
public: |
7 |
PID_control(int p_term, int d_term, int i_term, float goal);
|
|
8 |
PID_control(int p_term, int d_term, int i_term);
|
|
7 |
PID_control(float p_term, float d_term, float i_term, float goal);
|
|
8 |
PID_control(float p_term, float d_term, float i_term);
|
|
9 | 9 |
|
10 | 10 |
void change_goal(float goal); |
11 | 11 |
|
12 | 12 |
float pid(float input); |
13 | 13 |
|
14 | 14 |
private: |
15 |
int k_p;
|
|
16 |
int k_i;
|
|
17 |
int k_d;
|
|
15 |
float k_p;
|
|
16 |
float k_i;
|
|
17 |
float k_d;
|
|
18 | 18 |
|
19 | 19 |
float set_config; |
20 | 20 |
float error; |
Also available in: Unified diff