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Cleaned up PID

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bpmcgeeney
2021-09-21 21:42:18 -07:00
parent 382566a8da
commit 9eb9bce77c
4 changed files with 36 additions and 44 deletions
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include/Vehicle.h
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@@ -34,7 +34,7 @@ struct Vehicle {
double Kp, Ki, Kd;
double yError, yPrevError;
double pError, pPrevError;
double y_pidRefeed, p_pidRefeed, i_yError, i_pError = 0;
double i_yError, i_pError = 0;
double simTime;
int stepSize;