From e2350a9861a16ee33360941c6f825a5834a0606f Mon Sep 17 00:00:00 2001
From: jenniferdavid <jenniferdavid87@gmail.com>
Date: Fri, 16 Nov 2018 18:09:24 +0100
Subject: [PATCH] Update PID.py
---
simulation_control/src/scripts/PID.py | 33 ++++++++++++++++++++++++++-
1 file changed, 32 insertions(+), 1 deletion(-)
diff --git a/simulation_control/src/scripts/PID.py b/simulation_control/src/scripts/PID.py
index 959fb25..97398dc 100644
--- a/simulation_control/src/scripts/PID.py
+++ b/simulation_control/src/scripts/PID.py
@@ -1,3 +1,34 @@
+'''PID for F651
+
+ Copyright (C) 2018 Patrik Karlsson. All rights reserved.
+
+ BSD license:
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ 3. Neither the name of the copyright holder nor the names of
+ contributors to this software may be used to endorse or promote
+ products derived from this software without specific prior written
+ permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE AUTHORS AND CONTRIBUTORS ``AS IS''
+ AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+ PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ HOLDER OR THE CONTRIBUTORS TO THIS SOFTWARE BE LIABLE FOR ANY
+ DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
+ GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ '''
#!/usr/bin/env python
import rospy
@@ -74,4 +105,4 @@ class PID:
self.state = 0.0
self.intError = 0.0
self.lastError = 0.0
- self.output = 0.0
\ No newline at end of file
+ self.output = 0.0
--
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