Changed tunePID() to return the PID itself

UvuvDev · Jan 23, 2024 · c47857c · c47857c
1 parent 46ba6da
commit c47857c
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/include/lemlib/pidtuner.hpp b/include/lemlib/pidtuner.hpp
@@ -39,7 +39,7 @@ class PIDTuner {
 
         ~PIDTuner();
 
-        bool tunePID();
+        std::shared_ptr<FAPID> tunePID();
 };
 
 } // namespace lemlib
diff --git a/src/lemlib/pidtuner.cpp b/src/lemlib/pidtuner.cpp
@@ -112,15 +112,15 @@ void PIDTuner::tuneTurning(float targetAngle) {}
 
 void PIDTuner::tuneMisc(float target) {}
 
-bool PIDTuner::tunePID() {
+std::shared_ptr<FAPID> PIDTuner::tunePID() {
     switch (target) {
         case TUNER_TARGET::flywheel: tuneFlywheel(2000, 1); break;
         case TUNER_TARGET::catapult: break;
         case TUNER_TARGET::distance: break;
         case TUNER_TARGET::turning: break;
         case TUNER_TARGET::misc: break;
     }
-    return true;
+    return pid;
 }
 
 } // namespace lemlib