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Cleanup duplicate entries in the msg definition #179

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Mar 12, 2025
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Cleanup duplicate entries in the msg definition #179

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12 changes: 4 additions & 8 deletions control_msgs/msg/PidState.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -6,19 +6,15 @@ float64 error
# derivative of error
float64 error_dot

# equals error
float64 p_error
# weighted integral of error
float64 i_error
# equals derivative of error
float64 d_error
float64 i_term

# proportional gain
float64 p_term
float64 p_gain
# integral gain
float64 i_term
float64 i_gain
# derivative gain
float64 d_term
float64 d_gain
# upper integral clamp.
float64 i_max
# lower integral clamp.
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