Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

Diff: PIDController.cpp

Revision:
6:9f9047ca4a89
Parent:
4:4d54794b99a5
Child:
13:dc5f5f19e4e8
--- a/PIDController.cpp	Tue Mar 29 14:59:13 2016 +0000
+++ b/PIDController.cpp	Tue Mar 29 15:40:15 2016 +0000
@@ -1,7 +1,8 @@
 #include "PIDController.hpp"
 
-PIDController::PIDController(float nKp, float nKi, float nKd) : Kp(nKp), Ki(nKi), Kd(nKd)
+PIDController::PIDController(float Kp, float Ki, float Kd)
 {
+    set(Kp, Ki, Kd);
     reset();
 }
 
@@ -26,7 +27,6 @@
     integral += error * dt;
     float derivative = (error - prev_error) / dt;
     float out = Kp * error + Ki * integral + Kd * derivative;
-    //float out = Kp * error;
 
     prev_error = error;