typefix

JuliaControl · Mar 7, 2024 · 2927113 · 2927113
1 parent 6fbc334
commit 2927113
Showing 1 changed file with 8 additions and 10 deletions.
diff --git a/src/DiscretePIDs.jl b/src/DiscretePIDs.jl
@@ -38,8 +38,6 @@ mutable struct DiscretePID{T} <: Function
     yold::T 
 end
 
-floattype(K) = float(typeof(K))
-
 """
     DiscretePID(; K = 1, Ti = false, Td = false, Tt = √(Ti*Td), N = 10, b = 1, umin = -Inf, umax = Inf, Ts, I = 0, D = 0, yold = 0)
 
@@ -79,15 +77,15 @@ function DiscretePID(;
     K::T  = 1f0,
     Ti = false,
     Td = false,
-    Tt = Ti > 0 && Td > 0 ? floattype(K)(√(Ti*Td)) : floattype(K)(10),
-    N  = floattype(K)(10),
-    b  = floattype(K)(1),
-    umin = typemin(floattype(K)),
-    umax = typemax(floattype(K)),
+    Tt = Ti > 0 && Td > 0 ? typeof(K)(√(Ti*Td)) : typeof(K)(10),
+    N  = typeof(K)(10),
+    b  = typeof(K)(1),
+    umin = typemin(typeof(K)),
+    umax = typemax(typeof(K)),
     Ts,
-    I    = zero(floattype(K)),
-    D    = zero(floattype(K)),
-    yold = zero(floattype(K)),
+    I    = zero(typeof(K)),
+    D    = zero(typeof(K)),
+    yold = zero(typeof(K)),
 ) where T
     if Ti > 0
         bi = K * Ts / Ti