Diff: PID.h

Revision:

10:3296a2150efe

Parent:

9:244f8204d1fa

Child:

12:9d078cd8ca83

diff -r 244f8204d1fa -r 3296a2150efe PID.h
--- a/PID.h	Sat Feb 15 19:55:04 2014 +0000
+++ b/PID.h	Sun May 25 22:53:48 2014 +0000
@@ -31,7 +31,7 @@
      *                          such as momentum.
      * @param windupGainGuard Cap for the maximum error value.
      */
-    PID(const float, const float, const float, const float, const float);
+    PID(const float, const float, const float, const float);
 
     /**
      * Determine how to correct the system to the desired position.
@@ -43,7 +43,7 @@
      *               eg. PID can be switched off for manual control)
      * @return Adjustment to apply to the motors.
      */
-    float correct(const float);
+    float correct(const float,const int);
     
     void updateP(const float);
     void updateD(const float);
@@ -53,7 +53,6 @@
     const float integralGain;
     float derivativeGain;
     const float windupGainGuard;
-    const float dt;
     float proportionalControl, integralControl, derivativeControl;
 
     float currentError;