add back in Kd

2026-08-18 17:26:39 +02:00 · 2026-06-10 20:34:59 +02:00
parent 5422ef1154
commit 8802f631e5
6 changed files with 262 additions and 55 deletions
@@ -4,7 +4,7 @@
 class PIDController
 {
 private:
-    double kp, ki, kd, setpoint, integral, prev_error;
+    double kp, ki, kd, setpoint, integral, prev_measurement, d_filtered;
    double max_output, min_output, integral_max, dt;
    bool first_run;