Mirrors_Framework/RBF-aPID-Controller
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Added functions to get current gains.

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Andru Liu
2024-10-08 20:11:57 -07:00
parent e4c392d4d9
commit a3cb6a02ed
1 changed files with 4 additions and 0 deletions
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CPP_Implementation/apid_controller.h
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@@ -11,6 +11,10 @@ public:
void set_Ki(double ki) {Ki = ki;} void set_Ki(double ki) {Ki = ki;}
void set_Kd(double kd) {Kd = kd;} void set_Kd(double kd) {Kd = kd;}
double get_Kp() const { return Kp; }
double get_Ki() const { return Ki; }
double get_Kd() const { return Kd; }
private: private:
double Kp, Ki, Kd, dt; double Kp, Ki, Kd, dt;
double integral; double integral;