Clark Lin / Mbed 2 deprecated BX-car_s

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Dependencies:   mbed-rtos mbed

Fork of BX-car_s by Tony Lin

Diff: controller.h

Revision:
21:5f7efc1ca8ad
Parent:
13:a33a7705fe2b
Child:
23:d6d4e8adf7fe
--- a/controller.h	Sun Jun 29 16:20:22 2014 +0000
+++ b/controller.h	Mon Jun 30 08:19:43 2014 +0000
@@ -71,7 +71,7 @@
     * PID calculation.
     * @return The controller output as a float between outMin and outMax.
     */
-    float compute(float pv, float sp);
+    float compute(float center, float sp);
 
     //Getters.
     float getInMin();
@@ -88,6 +88,9 @@
     //  bool usingFeedForward;
 
     //Actual tuning parameters used in PID calculation.
+    float Kp;
+    float Ki;
+    float Kd;
     float Kc_;
     float tauI_;
     float tauD_;