public PID_Runner(float pG, float iG, float dG,
float pMax, float pMin, float oMax, float oMin,
GetFloat pvFunc, GetFloat spFunc, SetFloat outFunc, float fixedTime)
{
pid = new PID(pG, iG, dG, pMax, pMin, oMax, oMin, pvFunc, spFunc, outFunc);
this.fixedTime = fixedTime;
}
public PID(float pG, float iG, float dG,
float pMax, float pMin, float oMax, float oMin,
GetFloat pvFunc, GetFloat spFunc, SetFloat outFunc)
{
kp = pG;
ki = iG;
kd = dG;
pvMax = pMax;
pvMin = pMin;
outMax = oMax;
outMin = oMin;
readPV = pvFunc;
readSP = spFunc;
writeOV = outFunc;
}