define function to update control command

ShisatoYano · Jun 24, 2024 · 41b5f1d · 41b5f1d
1 parent e133c7e
commit 41b5f1d
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/src/components/control/pid/pid_controller.py b/src/components/control/pid/pid_controller.py
@@ -18,3 +18,13 @@ def __init__(self, spec, course=None):
         """
 
         self.WHEEL_BASE_M = spec.wheel_base_m
+
+        self.course = course
+
+    def update(self, state):
+        """
+        Function to update data for path tracking
+        state: Vehicle's state object
+        """
+
+        if not self.course: return