From 5d807ecdb3d981dd5c14a0219cfbf768c78f3a9c Mon Sep 17 00:00:00 2001
From: Andru Liu <90433630+WallabyLester@users.noreply.github.com>
Date: Tue, 8 Oct 2024 00:36:03 -0700
Subject: [PATCH] Initial call of aPID controller.

---
 CPP_Implementation/RBF_aPID.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/CPP_Implementation/RBF_aPID.cpp b/CPP_Implementation/RBF_aPID.cpp
index db40363..ae1c409 100644
--- a/CPP_Implementation/RBF_aPID.cpp
+++ b/CPP_Implementation/RBF_aPID.cpp
@@ -1,6 +1,8 @@
 #include <iostream>
 #include <cmath>
 
+
+
 class aPIDController {
 public:
     aPIDController(double kp, double ki, double kd, double dt)
@@ -22,6 +24,16 @@ private:
 };
 
 int main() {
+    // PID parameters
+    double Kp = 1.0, Ki = 0.1, Kd = 0.01, dt = 0.1;
+    
+    aPIDController apid(Kp, Ki, Kd, dt);
+
+    double target = 1.0, measured_value = 0.0;
+
+    double control_signal = apid.update(target, measured_value);
+
+    std::cout << "Output: " << control_signal << std::endl;
     
     return 0;
 }