BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.external.control.pid/PController

PController

open class PController : PDController

A PIDF controller with no feedforward, integral, or derivative. Source

Since

1.0.0-pre

Constructors

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constructor(kp: Double)
Default constructor, only takes a p-value.
constructor(kp: Double, sp: Double, pv: Double)
The extended constructor.

Inherited properties

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open var kD: Double
Derivative gain.
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open var kF: Double
Feedforward gain.
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open var kI: Double
Integral gain.
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open var kP: Double
Proportional gain.
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val NULL: SystemController
A null controller that does nothing.
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open val period: Double
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@set:NonNull
open var setPoint: Double

Inherited functions

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open fun atSetPoint(): Boolean
Returns true if the error is within the percentage of the total input range, determined by setTolerance.
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abstract fun calculate(process: Double, setpoint: Double): Double
Calculate the next output of this control algorithm.
open fun calculate(): Double
open fun calculate(pv: Double, sp: Double): Double
Calculates the next output of the PIDF controller.
open fun calculate(pv: Double): Double
Calculates the control value, u(t).
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@NonNull
open fun clearTotalError(): PIDFController
Clear the integral term.
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@NonNull
open fun compose(@NonNull other: SystemController, @NonNull combiner: DoubleBinaryOperator): CompositeController
Composes this controller with another controller, returning a new controller that is the composition of the two.
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open fun getD(): Double
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open fun getF(): Double
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open fun getI(): Double
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open fun getP(): Double
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open fun getPositionError(): Double
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open fun getVelocityError(): Double
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@NonNull
open fun pidf(): Optional<PIDFController>
Get the PIDF controller associated with this controller, if applicable.
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open fun reset()
Resets the PIDF controller.
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open fun setCoefficients(@NonNull coeffs: Array<Double>)
Sets the coefficients for this controller.
open fun setCoefficients(@NonNull coeffs: Array<Double>)
Note!
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@NonNull
open fun setD(kd: Double): PIDFController
Set the D coefficient on this controller
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@NonNull
open fun setF(kf: Double): PIDFController
Set the F coefficient on this controller
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@NonNull
open fun setI(ki: Double): PIDFController
Set the I coefficient on this controller
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@NonNull
open fun setIntegrationBounds(integralMin: Double, integralMax: Double): PIDFController
Set the bounds for the integral term.
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@NonNull
open fun setOutputClamps(lower: Double, upper: Double): PIDFController
Clamps the maximum output magnitude that can be achieved via calculate.
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@NonNull
open fun setP(kp: Double): PIDFController
Set the P coefficient on this controller
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@NonNull
open fun setPID(@NonNull coefficients: PIDCoefficients): PIDController
@NonNull
open fun setPID(kp: Double, ki: Double, kd: Double): PIDController
Set the current controller PID coefficients to the given coefficients.
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@NonNull
open fun setPIDF(@NonNull coefficients: PIDFCoefficients): PIDFController
@NonNull
open fun setPIDF(kp: Double, ki: Double, kd: Double, kf: Double): PIDFController
Set the current controller PID coefficients to the given coefficients.
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@NonNull
open fun setTolerance(positionTolerance: Double): PIDFController
@NonNull
open fun setTolerance(@NonNull tolerances: Array<Double>): PIDFController
@NonNull
open fun setTolerance(positionTolerance: Double, velocityTolerance: Double): PIDFController
Sets the error which is considered tolerable for use with atSetPoint.
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@NonNull
open fun updatePID(@NonNull coefficients: PIDCoefficients): PIDController
Update the supplied PID coefficients with the current controller values.
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@NonNull
open fun updatePIDF(@NonNull coefficients: PIDFCoefficients): PIDFController
Update the supplied PID coefficients with the current controller values.