Fix PID controller

j5155 · Dec 2, 2024 · 4ddc5e7 · 4ddc5e7
1 parent f0eb208
commit 4ddc5e7
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/ftc/src/main/kotlin/page/j5155/expressway/ftc/motion/PIDFController.kt b/ftc/src/main/kotlin/page/j5155/expressway/ftc/motion/PIDFController.kt
@@ -123,7 +123,7 @@ open class PIDFController
      */
     @JvmOverloads
     open fun update(
-        timestamp: Long,
+        timestamp: Long = System.nanoTime(),
         measuredPosition: Double,
         measuredVelocity: Double? = null
     ): Double {
@@ -166,7 +166,7 @@ open class PIDFController
     fun update(
         measuredPosition: Double
     ): Double {
-        return update(measuredPosition=measuredPosition)
+        return update(System.nanoTime(),measuredPosition)
     }