Diff: PIDController.h

Revision:

46:fd5a62296b12

Parent:

40:8e852115fe55

--- a/PIDController.h	Wed May 27 11:45:00 2015 +0000
+++ b/PIDController.h	Wed May 27 13:01:43 2015 +0000
@@ -23,10 +23,10 @@
                     float const _setpoint = 0.0f,
                     bool  const _clippingEnabled = false,
                     float const _maximum = 0.0)
-                    :   Kp(_Kp), Ki(_Ki), Kd(_Kd),
-                        setPoint(_setpoint),
-                        clippingEnabled(_clippingEnabled), maximum(_maximum),
-                        e(0), int_e(0), diff_e(0), prev_e(0) { }
+        :   Kp(_Kp), Ki(_Ki), Kd(_Kd),
+            setPoint(_setpoint),
+            clippingEnabled(_clippingEnabled), maximum(_maximum),
+            e(0), int_e(0), diff_e(0), prev_e(0) { }
 
     float Kp;               ///< The proportional term of the PID controller
     float Ki;               ///< The integral term of the PID controller
@@ -40,8 +40,7 @@
     float prev_e;           ///< error at t_-1
 
     /// Reset PID controller (integral, differential) to zero
-    void reset()
-    {
+    void reset() {
         prev_e = 0.0f;
         int_e  = 0.0f;
     }
@@ -49,27 +48,26 @@
     /// Performs one iteration of the PID control loop. If clipping
     /// @param input The input to the PID controller
     /// @return The PID controller's output
-    float output(float const input)
-    {
+    float output(float const input) {
         // find error from set point
         e = setPoint - input;
-        
+
         // differentiate error
         diff_e = (e - prev_e);
         prev_e = e;
-        
+
         // integral term
         int_e = int_e + e;
-        
+
         float const maxInte = maximum / Ki;
-        
+
         if (clippingEnabled) {
             if (int_e > maxInte)
                 int_e = maxInte;
             if (int_e < -maxInte)
                 int_e = -maxInte;
         }
-    
+
         return (e * Kp + int_e * Ki + diff_e * Kd);
     }
 };