public PID(Vector3 PIDvaluesHigh, Vector3 PIDvaluesLow)
{
PIDhigh = new PidController(PIDvaluesHigh.x, PIDvaluesHigh.y, PIDvaluesHigh.z, 1, -1);
PIDlow = new PidController(PIDvaluesLow.x, PIDvaluesLow.y, PIDvaluesLow.z, 1, -1);
PIDhigh.SetPoint = 0;
PIDlow.SetPoint = 0;
mode = PIDMode.Low;
}
public void Setup(PIDMode Mode, double Setpoint)
{
PIDSetpoint = Setpoint;
bool newAuto = (Mode == PIDMode.AUTOMATIC);
if (newAuto && !inAuto)
{
Initialize();
}
inAuto = newAuto;
}
