Merge branch 'lonkaars:master' into master

1 files changed, 18 insertions, 0 deletions

diff --git a/zumo/pidtest.cpp b/zumo/pidtest.cpp
new file mode 100644
index 0000000..b9ce50b
--- /dev/null
+++ b/zumo/pidtest.cpp
@@ -0,0 +1,18 @@
+#include <cstdio>
+#include <random>
+
+#include "pid.h"
+
+int main() {
+	float P, I, D;
+	P = -0.02;
+	I = 0.13;
+	D = -300;
+	PID test(P, I, D);
+	test.reset(0.0);
+
+	fprintf(stderr, "P: %.3f :: I: %.3f :: D: %.3f\n", P, I, D);
+	for (unsigned int i = 0; i < 100; i++) {
+		printf("%2.8f\n", test.iter(i < 50 ? 1.0 : 0.0));
+	}
+}