Pat McC / Mbed 2 deprecated AUV_PIDusna

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Dependencies:   mbed BNO055_fusion_AUV

Diff: PIDusna/PID.h

Revision:
4:e89234ca9d4e
Parent:
0:37123f30e8b2
--- a/PIDusna/PID.h	Mon Feb 03 18:37:11 2020 +0000
+++ b/PIDusna/PID.h	Thu Nov 12 20:25:07 2020 +0000
@@ -19,9 +19,9 @@
 class PID
 {
 public:
-    PID (float Kp, float Ki, float Kd, int dt, float deadzone=0);
+    PID (float Kp, float Ki, float Kd, float dt, float deadzone=0);
     void calculate_K(float Tu);
-    void set_dt(int dt);
+    void set_dt(float dt);
     void clear_integral(); 
     void clear_error();
     void clear_error_previous();
@@ -38,7 +38,7 @@
     float _Kd;
     float _floor;
     float _deadzone;
-    int _dt;
+    float _dt;
     float _error_previous;
     float _integral;