Revision 7741ab09
| ID | 7741ab09ee53490124c3fda719f2fc1f64efaabd |
Added a time thing to PID control
| control/pid_control.h | ||
|---|---|---|
| 9 | 9 |
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| 10 | 10 |
void change_goal(float goal); |
| 11 | 11 |
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| 12 |
float pid(float input); |
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| 12 |
float pid(float input, double time);
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| 13 | 13 |
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| 14 | 14 |
private: |
| 15 | 15 |
float k_p; |
| ... | ... | |
| 19 | 19 |
float set_config; |
| 20 | 20 |
float error; |
| 21 | 21 |
float prev_error; |
| 22 |
double prev_time; |
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| 22 | 23 |
|
| 23 | 24 |
float P_err; |
| 24 | 25 |
float I_err; |
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