diff options
Diffstat (limited to 'zumo/pid.cpp')
| -rw-r--r-- | zumo/pid.cpp | 9 |
1 files changed, 4 insertions, 5 deletions
diff --git a/zumo/pid.cpp b/zumo/pid.cpp index fabe1da..7c1cbda 100644 --- a/zumo/pid.cpp +++ b/zumo/pid.cpp @@ -41,13 +41,12 @@ void PID::reset(float value) { output = value; } -PID speed_pid(0.1, 0.0, 0.0); // TODO: tune these (garbage values) -PID steer_pid(0.1, 0.0, 0.0); -PID speed_mod_pid(1, 1, 1); +PID speed_pid = PID(); +PID steer_pid = PID(); +PID speed_mod_pid = PID(); void apply_pid(dui_state_t* target, dui_state_t* current) { current->speed = speed_pid.iter(target->speed); current->steer = steer_pid.iter(target->steer); - // current->speed_mod = speed_mod_pid.iter(current->speed_mod, target->speed_mod); - current->speed_mod = target->speed_mod; + current->speed_mod = speed_mod_pid.iter(target->speed_mod); } |