controller now compiles without errors

cpp_pid/include/cpp_pid/pid.h

@@ -8,7 +8,7 @@ namespace auvsl
     {
         public:
             // Contructor and destructor
-            PID(double dt, double max, double min, double Kp, double Kd, double Ki);
+            PID(double dt, double max, double min, double Kp, double Ki, double Kd);
             ~PID();
 
             // Returns the manipulated variable given a setpoint and current process value

cpp_pid/src/main.cpp

@@ -49,12 +49,12 @@ void writeToCSVfile(std::string name, Eigen::MatrixXd matrix)
 
 int main(int argc, char **argv)
 {   
-    double T = 50, dt = 1/T, max = 70, min = -70, Kp = 10, Kd = 5, Ki = 2;
+    double T = 50, dt = 1/T, max = 70, min = -70, Kp = 10, Ki = 2, Kd = 5;
 
     //make a server object that callsback odomentry information, an object to analysis the relevant waypoints, if the vehcile should stop, path errors fed into the controller, and a controller object
     auvsl::Server*     srvrObj = new auvsl::Server;
     auvsl::Environment* envObj = new auvsl::Environment;
-    auvsl::PID*         pidObj = new auvsl::PID(dt, max, min, Kp, Kd, Ki);
+    auvsl::PID*         pidObj = new auvsl::PID(dt, max, min, Kp, Ki, Kd);
 
     rclcpp::init(argc, argv);
     auto node = rclcpp::Node::make_shared("fuzzyControl");

cpp_pid/src/pid.cpp

@@ -10,14 +10,14 @@
 namespace auvsl
 {
     // Constructor
-    PID::PID(double dt, double max, double min, double Kp, double Kd, double Ki) :
+    PID::PID(double dt, double max, double min, double Kp, double Ki,  double Kd) :
         _dt(dt),
         _max(max),
         _min(min),
         _Kp(Kp),
-        _Kd(Kd),
         _Ki(Ki),
-        _pre_error(0),
+        _Kd(Kd),
+        _prev_error(0),
         _integral(0)
     {
     }