1 files changed, 9 insertions, 26 deletions

diff --git a/zumo/pidtest.cpp b/zumo/pidtest.cpp
index f5198bb..b9ce50b 100644
--- a/zumo/pidtest.cpp
+++ b/zumo/pidtest.cpp
@@ -3,33 +3,16 @@
 
 #include "pid.h"
 
-std::random_device rd;
-std::mt19937 rng(rd());
-std::uniform_real_distribution<float> uni(0,13);
-
-auto random_integer = uni(rng);
-
 int main() {
 	float P, I, D;
-	do {
-		// P = uni(rng);
-		// I = uni(rng);
-		// D = uni(rng);
-		P = 10;
-		I = 0.1;
-		D = 10;
-		PID test(P, I, D);
-		test.reset(0.0);
+	P = -0.02;
+	I = 0.13;
+	D = -300;
+	PID test(P, I, D);
+	test.reset(0.0);
 
-		float val = 0;
-		for (unsigned int i = 0; i < 100; i++) val = test.iter(1.0);
-		// if (val > 0.999 && val < 1.001) {
-			fprintf(stderr, "P: %.3f :: I: %.3f :: D: %.3f\n", P, I, D);
-			test.reset(0.0);
-			for (unsigned int i = 0; i < 100; i++) {
-				printf("%2.8f\n", test.iter(1.0));
-			}
-			exit(0);
-		// }
-	} while (false);
+	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));
+	}
 }