Prosper Van / PID

from greg

Fork of PID by Greg Abdo

Diff: PID.h

Revision:
8:a020a225bc65
Parent:
7:1b1c2ded95f5
Child:
9:244f8204d1fa
diff -r 1b1c2ded95f5 -r a020a225bc65 PID.h
--- a/PID.h	Sat Dec 21 08:27:42 2013 +0000
+++ b/PID.h	Tue Dec 31 05:28:01 2013 +0000
@@ -43,12 +43,15 @@
      *               eg. PID can be switched off for manual control)
      * @return Adjustment to apply to the motors.
      */
-    float correct(const float, const float);
+    float correct(const float);
+    
+    void updateP(const float);
+    void updateD(const float);
 
 private:
     float proportionalGain;
     const float integralGain;
-    const float derivativeGain;
+    float derivativeGain;
     const float windupGainGuard;
     const int dt;
     float proportionalControl, integralControl, derivativeControl;