virtual void init()

This function is called when the followTo function starts up. It can be used for anything you want to do before the followTo function starts. For example, you can use it to reset the PID controller.

Implementation Notes

This function does not have to be implemented, as it is already defaulted to do nothing.

Example Implementation

class DoNothingController : public SpeedController {
public:
    void init() override {
        cout << "I'm doing nothing!" << endl;
    }
    followToRet followTo(Input& input) override{
        return { {10, forwardVel::pct}, {0, angularVel::pctDiff} };
    }
};