1 #ifndef PID_CONTROLLER_H_
2 #define PID_CONTROLLER_H_
4 #include "RunningSum.h"
30 PID(
double p_gain,
double i_gain,
double d_gain,
double ff_gain = 1.0,
31 double i_decay = 0.5,
bool feedforward =
true);
50 double ff_gain = 1.0,
double i_decay = 0.87,
51 bool feedforward =
true);
171 double m_proportional_gain;
172 double m_integral_gain;
173 double m_derivative_gain;
174 double m_feedforward_gain;
175 double m_integral_decay;
182 bool m_is_feed_forward;