Diff: pid.h

Revision:

5:0975b797bf54

Parent:

4:d59328f14363

Child:

6:95722ada4706

--- a/pid.h	Fri Dec 04 05:12:57 2015 +0000
+++ b/pid.h	Fri Dec 04 05:19:10 2015 +0000
@@ -43,28 +43,32 @@
 class ctrl{
  public:
     
-  void setKp(double num);
-  void setKi(double num);
-  void setKd(double num);
-  void setprevErr(double num);
-  void setErr(double num);
-  void setCorrection(double num);
-  double pctrl();
-  double ictrl();
-  double dctrl();
-  double total();
-  void adjust(double xSpeed,double ySpeed,double k1, double k2);
+  void setKp(float num);
+  void setKi(float num);
+  void setKd(float num);
+  void setprevErr(float num);
+  void setErr(float num);
+  void setCorrection(float num);
+  float pctrl();
+  float ictrl();
+  float dctrl();
+  float getT();
+  float getR();
+  float total();
+  void adjust(float xSpeed,float ySpeed,float k1, float k2);
     
  private:
-  double error;
-  double ki;
-  double kd;
-  double kp;
-  double prevErr;
-  double correction;
-  double doubleegrater;
-  double decay;
-    
+  float error;
+  float ki;
+  float kd;
+  float kp;
+  float prevErr;
+  float correction;
+  float floategrater;
+  float decay;
+  float TErr;
+  float RErr;
+  
 };
 
 #endif //PID_H