From cef95354c69745f782a95d37f4b0e7bbf02e106a Mon Sep 17 00:00:00 2001
From: lonkaars <loek@pipeframe.xyz>
Date: Wed, 24 May 2023 18:03:05 +0200
Subject: uart working

---
 zumo/pidtest/pidtest.cpp | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 zumo/pidtest/pidtest.cpp

(limited to 'zumo/pidtest/pidtest.cpp')

diff --git a/zumo/pidtest/pidtest.cpp b/zumo/pidtest/pidtest.cpp
new file mode 100644
index 0000000..4d047fb
--- /dev/null
+++ b/zumo/pidtest/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));
+	}
+}
-- 
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