Revision 71780e9c
ID | 71780e9c3f71dc76792785ada940cacd83cda58e |
tested pid_control and fixed it. added the test file for future reference
control/pid_control.cpp | ||
---|---|---|
1 | 1 |
#include "pid_control.h" |
2 |
#include "assert.h" |
|
3 | 2 |
|
4 |
PID_control::PID_control(int p_term, int d_term, int i_term, float goal);
|
|
3 |
PID_control::PID_control(float p_term, float d_term, float i_term, float goal)
|
|
5 | 4 |
{ |
6 | 5 |
P_err = 0; |
7 | 6 |
I_err = 0; |
... | ... | |
14 | 13 |
set_config = goal; |
15 | 14 |
} |
16 | 15 |
|
17 |
PID_control::PID_control(int p_term, int d_term, int i_term)
|
|
16 |
PID_control::PID_control(float p_term, float d_term, float i_term)
|
|
18 | 17 |
{ |
19 | 18 |
P_err = 0; |
20 | 19 |
I_err = 0; |
... | ... | |
42 | 41 |
|
43 | 42 |
return k_p*P_err + k_i*I_err + k_d * D_err; |
44 | 43 |
} |
45 |
|
Also available in: Unified diff