Ahmed Allibhoy / Mbed 2 deprecated MM_Competition

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Dependencies:   QEI mbed

Diff: pid.h

Revision:
10:332a4ad5911d
Parent:
8:1ce513eff545
Child:
11:8faa068940f1
--- a/pid.h	Fri Dec 04 06:01:59 2015 +0000
+++ b/pid.h	Sat Dec 05 00:41:23 2015 +0000
@@ -37,11 +37,31 @@
 
 #ifndef PID_H
 #define PID_H
+
+
+
 #include"mbed.h"
 #include "util.h"
 
+
+
 class ctrl{
  public:
+    ctrl(){
+        setKp(0);
+        setKi(0);
+        setKd(0);
+        setprevErr(0);
+        setErr(0);
+        setCorrection(0);
+        floategrater=1;
+        decay=1;
+        TErr=0;
+        RErr=0;
+        prevTime=0;
+        timer.start();
+        }
+ 
     
   void setKp(float num);
   void setKi(float num);
@@ -63,6 +83,7 @@
   float error;
   float ki;
   float kd;
+  float prevTime;
   float kp;
   float prevErr;
   float correction;
@@ -70,7 +91,7 @@
   float decay;
   float TErr;
   float RErr;
-  
+  Timer timer;
 };
 
 #endif //PID_H