Thomas Lew / Mbed 2 deprecated FreeFlyerROS

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Dependencies:   mbed ros_lib_kinetic

Diff: PID.h

Revision:
1:40bdbe1a93b7
Parent:
0:dd126a1080d3
--- a/PID.h	Tue Feb 14 05:12:54 2017 +0000
+++ b/PID.h	Fri Jun 22 02:09:50 2018 +0000
@@ -174,8 +174,11 @@
     float getPParam();
     float getIParam();
     float getDParam();
+    float getAccLimit();
+    float getAccError();
+    float getSetPoint();
 
-//private:
+private:
 
     bool usingFeedForward;
     bool inAuto;
@@ -190,7 +193,7 @@
     float iParam_;
     float dParam_;
     
-    //The point we want to reach.
+    // The point we want to reach.
     float setPoint_;         
     //The thing we measure.
     float processVariable_;  
@@ -207,8 +210,6 @@
     float outMin_;
     float outMax_;
     float outSpan_;
-    /*float coutSMin_;     // Imposed scaled controller output min, max - can be adjusted to apply hard limits without re-tuning controller
-    float coutSMax_;*/
 
     //The accumulated error, i.e. integral.
     float accError_;