From ebf0233b4f49d54e86a4c0f5022f9334562f0017 Mon Sep 17 00:00:00 2001
From: Connor Johnstone <connor.johnstone@orionspace.com>
Date: Tue, 14 Mar 2023 17:06:20 -0600
Subject: [PATCH] Updated default controller

---
 readme.md         | 2 +-
 src/controller.rs | 3 +++
 src/problem.rs    | 6 +++---
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/readme.md b/readme.md
index eec4fbe..0147141 100644
--- a/readme.md
+++ b/readme.md
@@ -40,7 +40,7 @@ let y0 = Vector3::new(1.0, 1.0, 1.0);
 
 let ode = ODE::new(&derivative, 0.0, 5.0, y0);
 let dp45 = DormandPrince45::new(1e-12_f64, 1e-5_f64);
-let controller = PIController::new(0.17, 0.04, 10.0, 0.2, 0.1, 0.9, 1e-8);
+let controller = PIController::new();
 
 let value_too_high = Callback {
     event: &|_: f64, y: SVector<f64,3>| { 10.0 - y[0] },
diff --git a/src/controller.rs b/src/controller.rs
index 3cf5fe1..ac37b3b 100644
--- a/src/controller.rs
+++ b/src/controller.rs
@@ -51,6 +51,9 @@ impl PIController {
             old_h: initial_h,
         }
     }
+    pub fn default() -> Self {
+        Self::new(0.17, 0.04, 10.0, 0.2, 10.0, 0.9, 1e-4)
+    }
 }
 
 #[cfg(test)]
diff --git a/src/problem.rs b/src/problem.rs
index 69dd142..d978fc6 100644
--- a/src/problem.rs
+++ b/src/problem.rs
@@ -145,7 +145,7 @@ mod tests {
 
         let ode = ODE::new(&derivative, 0.0, 1.0, y0);
         let dp45 = DormandPrince45::new(1e-12_f64, 1e-5_f64);
-        let controller = PIController::new(0.17, 0.04, 10.0, 0.2, 0.1, 0.9, 1e-8);
+        let controller = PIController::default();
 
         let mut problem = Problem::new(ode, dp45, controller);
 
@@ -162,7 +162,7 @@ mod tests {
 
         let ode = ODE::new(&derivative, 0.0, 5.0, y0);
         let dp45 = DormandPrince45::new(1e-12_f64, 1e-5_f64);
-        let controller = PIController::new(0.17, 0.04, 10.0, 0.2, 0.1, 0.9, 1e-8);
+        let controller = PIController::default();
 
         let value_too_high = Callback {
             event: &|_: f64, y: SVector<f64,3>| { 10.0 - y[0] },
@@ -183,7 +183,7 @@ mod tests {
 
         let ode = ODE::new(&derivative, 0.0, 10.0, y0);
         let dp45 = DormandPrince45::new(1e-12_f64, 1e-6_f64);
-        let controller = PIController::new(0.17, 0.04, 10.0, 0.2, 0.1, 0.9, 1e-8);
+        let controller = PIController::default();
 
         let mut problem = Problem::new(ode, dp45, controller);
         let solution = problem.solve();