diff --git a/src/shared/algorithms/PID.h b/src/shared/algorithms/PID.h index 14270c16a75a1a6610d9159407c0eec8df1974e4..727f1e5477eddb3f51eed688e824775d2d2ea706 100644 --- a/src/shared/algorithms/PID.h +++ b/src/shared/algorithms/PID.h @@ -84,13 +84,13 @@ public: double getI() { return i; } -private: - const double Kp; // Proportional factor. - const double Ki; // Integral factor. - const double Ts; // Sampling period. - const double uMin, uMax; // Anti-windup limits. - double i = 0; // Integral contribution. + double Kp; // Proportional factor. + double Ki; // Integral factor. + double Ts; // Sampling period. + double uMin, uMax; // Anti-windup limits. +private: + double i = 0; // Integral contribution. bool saturation = false; };