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Minor errors #2

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Minor errors #2

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2 changes: 1 addition & 1 deletion C++/pid_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ PIDControl (float kp, float ki, float kd, float sampleTimeSeconds, float minOutp
float maxOutput, PIDMode mode, PIDDirection controllerDirection)
{
controllerDirection = controllerDirection;
mode = mode;
this->mode = mode;
iTerm = 0.0f;
input = 0.0f;
lastInput = 0.0f;
Expand Down
18 changes: 9 additions & 9 deletions C++/pid_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -224,7 +224,7 @@ PIDControl
// Returns:
// Nothing.
//
inline void PIDSetpointSet(float setpoint) { pid->setpoint = setpoint; }
inline void PIDSetpointSet(float setpoint) { this->setpoint = setpoint; }

//
// PID Input Set
Expand All @@ -236,7 +236,7 @@ PIDControl
// Returns:
// Nothing.
//
inline void PIDInputSet(float input) { pid->input = input; }
inline void PIDInputSet(float input) { this->input = input; }

//
// PID Output Get
Expand All @@ -248,7 +248,7 @@ PIDControl
// Returns:
// The output of the specific PID controller.
//
inline float PIDOutputGet() { return pid->output; }
inline float PIDOutputGet() { return this->output; }

//
// PID Proportional Gain Constant Get
Expand All @@ -260,7 +260,7 @@ PIDControl
// Returns:
// The proportional gain constant.
//
inline float PIDKpGet() { return pid->dispKp; }
inline float PIDKpGet() { return this->dispKp; }

//
// PID Integral Gain Constant Get
Expand All @@ -272,7 +272,7 @@ PIDControl
// Returns:
// The integral gain constant.
//
inline float PIDKiGet() { return pid->dispKi; }
inline float PIDKiGet() { return this->dispKi; }

//
// PID Derivative Gain Constant Get
Expand All @@ -284,7 +284,7 @@ PIDControl
// Returns:
// The derivative gain constant.
//
inline float PIDKdGet() { return pid->dispKd; }
inline float PIDKdGet() { return this->dispKd; }

//
// PID Mode Get
Expand All @@ -296,7 +296,7 @@ PIDControl
// MANUAL or AUTOMATIC depending on what the user set the
// controller to.
//
inline PIDMode PIDModeGet() { return pid->mode; }
inline PIDMode PIDModeGet() { return this->mode; }

//
// PID Direction Get
Expand All @@ -308,7 +308,7 @@ PIDControl
// DIRECT or REVERSE depending on what the user set the
// controller to.
//
inline PIDDirection PIDDirectionGet() { return pid->controllerDirection; }
inline PIDDirection PIDDirectionGet() { return this->controllerDirection; }

private:
//
Expand Down Expand Up @@ -378,6 +378,6 @@ PIDControl
// AUTOMATIC: PID controller is on.
//
PIDMode mode;
}
};

#endif // PID_CONTROLLER_H