Control.h

 
class Control
{
    protected:
    public:
 
    //Constructor
    Control(float vel_gain, float pos_gain);
    
    //Runs control system to calculate PWM
    void run(float pos_ref, float pos, float vel_ref, float vel);
    
    float Kd = 1.003; 
 
    float Kp = 0.0203; 
 
    float PWM_vel;
 
    float PWM_pos;
 
    float PWM;
};