1 #ifndef PID_CONTROLLER_H_
2 #define PID_CONTROLLER_H_
4 #include "RunningSum.h"
23 PID(
double p_gain,
double i_gain,
double d_gain,
double ff_gain = 1.0,
24 double i_decay = 0.5,
bool feedforward =
true,
double filterFreq = 7.0);
41 void setParameters(
double p_gain,
double i_gain,
double d_gain,
42 double ff_gain = 1.0,
double i_decay = 0.87,
43 bool feedforward =
true,
double filterFreq = 7.0);
50 virtual double update(
double dt);
162 double m_proportional_gain;
163 double m_integral_gain;
164 double m_derivative_gain;
165 double m_feedforward_gain;
166 double m_integral_decay;
173 bool m_is_feed_forward;