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AC_PID: tidy AC_PID construction

This commit is contained in:
Peter Barker 2023-08-30 16:11:20 +10:00 committed by Peter Barker
parent 70109f968c
commit 06a8dafbf5
1 changed files with 27 additions and 0 deletions
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27
libraries/AC_PID/AC_PID.h
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@ -21,9 +21,36 @@
class AC_PID {
public:
struct Defaults {
float p;
float i;
float d;
float ff;
float imax;
float filt_T_hz;
float filt_E_hz;
float filt_D_hz;
float srmax;
float srtau;
};
// Constructor for PID
AC_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz,
float initial_srmax=0, float initial_srtau=1.0);
AC_PID(const AC_PID::Defaults &defaults) :
AC_PID(
defaults.p,
defaults.i,
defaults.d,
defaults.ff,
defaults.imax,
defaults.filt_T_hz,
defaults.filt_E_hz,
defaults.filt_D_hz,
defaults.srmax,
defaults.srtau
)
{ }
CLASS_NO_COPY(AC_PID);