From 41b5f1d44fdf45fad4eb0bac1edda2277d0cd605 Mon Sep 17 00:00:00 2001
From: ShisatoYano <shisatoyano@gmail.com>
Date: Mon, 24 Jun 2024 14:43:39 +0000
Subject: [PATCH] define function to update control command

---
 src/components/control/pid/pid_controller.py | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/components/control/pid/pid_controller.py b/src/components/control/pid/pid_controller.py
index 4bb661c..9d737b2 100644
--- 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