From 3cdf696398eeefb7fa8a81202fe97449dc07ba4f Mon Sep 17 00:00:00 2001
From: Andru Liu <90433630+WallabyLester@users.noreply.github.com>
Date: Tue, 8 Oct 2024 18:21:13 -0700
Subject: [PATCH] Added functions to modify PID gains.

---
 CPP_Implementation/apid_controller.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/CPP_Implementation/apid_controller.h b/CPP_Implementation/apid_controller.h
index 7864f55..5f21e2b 100644
--- a/CPP_Implementation/apid_controller.h
+++ b/CPP_Implementation/apid_controller.h
@@ -3,10 +3,14 @@
 
 class aPIDController {
 public:
-    aPIDController(double kp, double ki, double kd, double dt);
+    aPIDController(double kp=0.0, double ki=0.0, double kd=0.0, double dt=0.1);
 
     double update(double target, double measured_value);
 
+    void set_Kp(double kp) {Kp = kp;}
+    void set_Ki(double ki) {Ki = ki;}
+    void set_Kd(double kd) {Kd = kd;}
+
 private:
     double Kp, Ki, Kd, dt;
     double integral;