From 6d67e37c3d9368e495e4deef600c18a4a737ac63 Mon Sep 17 00:00:00 2001
From: sdekhterman <sdekhterman@gmail.com>
Date: Thu, 24 Oct 2024 20:55:28 -0500
Subject: [PATCH] controller now compiles without errors

---
 cpp_pid/include/cpp_pid/pid.h | 2 +-
 cpp_pid/src/main.cpp          | 4 ++--
 cpp_pid/src/pid.cpp           | 6 +++---
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/cpp_pid/include/cpp_pid/pid.h b/cpp_pid/include/cpp_pid/pid.h
index b4fd424..2c6ea9a 100644
--- a/cpp_pid/include/cpp_pid/pid.h
+++ b/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
diff --git a/cpp_pid/src/main.cpp b/cpp_pid/src/main.cpp
index 3956bf2..35c32f1 100644
--- a/cpp_pid/src/main.cpp
+++ b/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");
diff --git a/cpp_pid/src/pid.cpp b/cpp_pid/src/pid.cpp
index 6845dd5..24a833c 100644
--- a/cpp_pid/src/pid.cpp
+++ b/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)
     {
     }