comparison include/Pid.h @ 152:8f98b32d0e23 ClockSync

Last commit on this branch for a while. Overall not very succesful

 	float differentialError;
 	float output;
 	float kp;
 	float ki;
 	float kd;
+	float gain;
 	float ts;
 	int idleTimeout;
 	int timeoutCount;
 	void updateIntegralError();
 	void updateDifferentialError();
 public:
 	Pid();
 	float setError(float anError);
 	void setIdleTimeout(int aIdleTimeout);
 	float getOutput();
+	void setProportionalGain(float proportionalGain);
+	void setDerivativeGain(float derivativeGain);
+	void setIntegralGain(float integralGain);
+	void setGlobalGain(float globalGain);
+	float getProportionalGain();
+	float getDerivativeGain();
+	float getIntegralGain();
+	float getGlobalGain();
+	float getIntegralError();
 };
 
 
 
 #endif /* PID_H_ */