Revision 7741ab09
ID | 7741ab09ee53490124c3fda719f2fc1f64efaabd |
Added a time thing to PID control
control/pid_control.h | ||
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9 | 9 |
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10 | 10 |
void change_goal(float goal); |
11 | 11 |
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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 |
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23 | 24 |
float P_err; |
24 | 25 |
float I_err; |
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