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