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https://github.com/brendanhaines/RasPi.git
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23 lines
304 B
C++
23 lines
304 B
C++
/*
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* pid.h
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*/
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#ifndef PID_H
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#define PID_H
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#include <ctime>
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class PID
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{
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public:
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PID( double p = 0, double i = 0, double d = 0 );
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double update( double current, double desired );
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private:
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double pGain, iGain, dGain;
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clock_t lastUpdate;
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double integral, lastPosition;
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};
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#endif |