Revision 71780e9c
ID  71780e9c3f71dc76792785ada940cacd83cda58e 
tested pid_control and fixed it. added the test file for future reference
control/pid_control.h  

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class PID_control 
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{ 
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public: 
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PID_control(int p_term, int d_term, int i_term, float goal);


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PID_control(int p_term, int d_term, int i_term);


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PID_control(float p_term, float d_term, float i_term, float goal);


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PID_control(float p_term, float d_term, float i_term);


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void change_goal(float goal); 
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float pid(float input); 
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private: 
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int k_p;


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int k_i;


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int k_d;


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float k_p;


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float k_i;


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float k_d;


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float set_config; 
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float error; 
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