bugfix for speedcontroller initalization

Author: tsandmann

lib/pid/PID_v1.cpp renamed to lib/pid/pid_v1.cpp

@@ -26,17 +26,18 @@
 #include "ctbot.h"
 #include "scheduler.h"
 
-#include <PID_v1.h>
+#include <pid_v1.h>
 #include <cmath>
 
 
 namespace ctbot {
 
 std::list<SpeedControl*> SpeedControl::controller_list_;
 
-SpeedControl::SpeedControl(Encoder& wheel_enc, Motor& motor) : direction_ { true }, setpoint_ { 0.f }, kp_ { 40 }, ki_ { 30 }, kd_ { 0 },
-        p_pid_controller_ { new Pid(input_, output_, setpoint_, kp_, ki_, kd_, true) }, wheel_encoder_ { wheel_enc }, motor_ { motor } {
-    if (! p_pid_controller_) {
+SpeedControl::SpeedControl(Encoder& wheel_enc, Motor& motor)
+    : direction_ { true }, setpoint_ {}, input_ {}, output_ {}, kp_ { 40.f }, ki_ { 30.f }, kd_ { 0.f },
+      p_pid_controller_ { new Pid(input_, output_, setpoint_, kp_, ki_, kd_, true) }, wheel_encoder_ { wheel_enc }, motor_ { motor } {
+    if (!p_pid_controller_) {
         return;
     }
 
@@ -57,7 +58,7 @@ SpeedControl::~SpeedControl() {
 }
 
 void SpeedControl::run() {
-    if (! p_pid_controller_) {
+    if (!p_pid_controller_) {
         return;
     }
 
@@ -76,7 +77,7 @@ void SpeedControl::run() {
 }
 
 void SpeedControl::set_parameters(const float kp, const float ki, const float kd) {
-    if (! p_pid_controller_) {
+    if (!p_pid_controller_) {
         return;
     }
 
@@ -87,8 +88,6 @@ void SpeedControl::set_parameters(const float kp, const float ki, const float kd
 }
 
 void SpeedControl::controller(void*) {
-    // std::cout << "SpeedControl::controller(): running speed controller at " << Timer::get_ms() << " ms\n";
-
     for (auto p_ctrl : controller_list_) {
         p_ctrl->run();
     }