Found a few typos

purduesigbots · Feb 5, 2024 · 343af3a · 343af3a
1 parent 9b53dcf
commit 343af3a
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Showing 3 changed files with 5 additions and 2 deletions.
diff --git a/include/VOSS/controller/ArcPIDController.hpp b/include/VOSS/controller/ArcPIDController.hpp
@@ -10,7 +10,7 @@ class ArcPIDController : public AbstractController {
     double track_width;
     double exit_error;
     double min_error;
-    double can_reverse;
+    bool can_reverse;
     double settle_time;
     double prev_t;
     double slew;

diff --git a/include/VOSS/controller/PIDController.hpp b/include/VOSS/controller/PIDController.hpp
@@ -12,13 +12,15 @@ class PIDController : public AbstractController {
     double exit_error;
     double angular_exit_error;
     double min_error;
-    double can_reverse;
+    bool can_reverse;
     double settle_time;
 
     double close;
     double close_2;
     int counter;
+    int shake_count;
     double prev_angle;
+    double prev_ang_speed;
 
     double prev_lin_err, total_lin_err, prev_ang_err, total_ang_err;
 

diff --git a/src/VOSS/controller/ArcPIDController.cpp b/src/VOSS/controller/ArcPIDController.cpp
@@ -108,6 +108,7 @@ void ArcPIDController::reset() {
     this->prev_lin_err = 0.0;
     this->total_lin_err = 0.0;
     this->prev_lin_speed = 0.0;
+    this->can_reverse = false;
 }
 
 } // namespace voss::controller