1 #ifndef PROFILED_PID_H_
2 #define PROFILED_PID_H_
5 #include "MotionProfile.h"
8 class ProfiledPID :
public PID
11 ProfiledPID(MotionProfile *profile,
double p_gain,
double i_gain,
double d_gain,
double ff_gain = 1.0,
12 double i_decay = 0.5,
bool feedforward =
true);
14 ProfiledPID(MotionProfile *profile);
15 virtual ~ProfiledPID();
22 virtual double update(
double dt);
30 void setMotionProfile(MotionProfile *profile);
34 MotionProfile *m_profile;