public PIDTuner(float initialPGain, float initialDGain, int stepsPerIteration, PIDController controller)
{
gains = new float[2];
deltas = new float[] { 0.1f, 0.1f };
gains[0] = controller.PGain = initialPGain;
gains[1] = controller.DGain = initialDGain;
this.stepsPerIteration = stepsPerIteration;
this.controller = controller;
numSteps = 0;
totalcte = 0f;
BestAvgCTE = float.MaxValue;
currGain = 0;
}
public PIDTuner(float initialPGain, float initialDGain, int stepsPerIteration, PIDController controller)
{
gains = new float[2];
deltas = new float[] { 0.1f, 0.1f };
gains[0] = controller.PGain = initialPGain;
gains[1] = controller.DGain = initialDGain;
this.stepsPerIteration = stepsPerIteration;
this.controller = controller;
numSteps = 0;
totalcte = 0f;
BestAvgCTE = float.MaxValue;
currGain = 0;
}