Revision c7e517ce
| ID | c7e517ce43e8346527b9d5780bf7e1394a8e38a8 |
Added ability to change constants in PID_control
| control/pid_control.h | ||
|---|---|---|
| 8 | 8 |
PID_control(float p_term, float d_term, float i_term); |
| 9 | 9 |
|
| 10 | 10 |
void change_goal(float goal); |
| 11 |
void change_p(float p); |
|
| 12 |
void change_i(float i); |
|
| 13 |
void change_d(float d); |
|
| 11 | 14 |
|
| 12 | 15 |
float pid(float input, double time); |
| 13 | 16 |
|
| 14 | 17 |
private: |
| 18 |
void reset(); |
|
| 19 |
|
|
| 15 | 20 |
float k_p; |
| 16 | 21 |
float k_i; |
| 17 | 22 |
float k_d; |
| 18 | 23 |
|
| 19 | 24 |
float set_config; |
| 20 |
float error; |
|
| 21 | 25 |
float prev_error; |
| 22 | 26 |
double prev_time; |
| 23 | 27 |
|
Also available in: Unified diff