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

PIDFController

open class PIDFController : SystemController

This is a PID controller (https://en.wikipedia.org/wiki/PID_controller) for your robot. Internally, it performs all the calculations for you. You need to tune your values to the appropriate amounts in order to properly utilize these calculations.

The equation we will use is: u(t) = kP * e(t) + kI * int(0,t)[e(t')dt'] + kD * e'(t) + kF where e(t) = r(t) - y(t) and r(t) is the setpoint and y(t) is the measured value. If we consider e(t) the positional error, then int(0,t)[e(t')dt'] is the total error and e'(t) is the velocity error. Source

Since

1.0.0-pre

Inheritors

Constructors

constructor(kp: Double, ki: Double, kd: Double, kf: Double)

The base constructor for the PIDF controller

constructor(kp: Double, ki: Double, kd: Double, kf: Double, sp: Double, pv: Double)

This is the full constructor for the PIDF controller.

Properties

open var kD: Double

Derivative gain.

open var kF: Double

Feedforward gain.

open var kI: Double

Integral gain.

open var kP: Double

Proportional gain.

open val period: Double

open var setPoint: Double

Inherited properties

val NULL: SystemController

A null controller that does nothing.

Functions

open fun atSetPoint(): Boolean

Returns true if the error is within the percentage of the total input range, determined by setTolerance.

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).

clearTotalError

open fun clearTotalError(): PIDFController

Clear the integral term.

getCoefficients

open fun getCoefficients(): Array<Double>

open fun getD(): Double

open fun getF(): Double

open fun getI(): Double

open fun getP(): Double

getPositionError

open fun getPositionError(): Double

open fun getTolerance(): Array<Double>

getVelocityError

open fun getVelocityError(): Double

open fun pidf(): Optional<PIDFController>

Get the PIDF controller associated with this controller, if applicable.

open fun reset()

Resets the PIDF controller.

setCoefficients

open fun setCoefficients(@NonNull coeffs: Array<Double>)

Note!

open fun setD(kd: Double): PIDFController

Set the D coefficient on this controller

open fun setF(kf: Double): PIDFController

Set the F coefficient on this controller

open fun setI(ki: Double): PIDFController

Set the I coefficient on this controller

setIntegrationBounds

open fun setIntegrationBounds(integralMin: Double, integralMax: Double): PIDFController

Set the bounds for the integral term.

setOutputClamps

open fun setOutputClamps(lower: Double, upper: Double): PIDFController

Clamps the maximum output magnitude that can be achieved via calculate.

open fun setP(kp: Double): PIDFController

Set the P coefficient on this controller

open fun setPIDF(@NonNull coefficients: PIDFCoefficients): PIDFController

open fun setPIDF(kp: Double, ki: Double, kd: Double, kf: Double): PIDFController

Set the current controller PID coefficients to the given coefficients.

open fun setTolerance(positionTolerance: Double): PIDFController

open fun setTolerance(@NonNull tolerances: Array<Double>): PIDFController

open fun setTolerance(positionTolerance: Double, velocityTolerance: Double): PIDFController

Sets the error which is considered tolerable for use with atSetPoint.

open fun updatePIDF(@NonNull coefficients: PIDFCoefficients): PIDFController

Update the supplied PID coefficients with the current controller values.

Inherited functions

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.

setCoefficients

open fun setCoefficients(@NonNull coeffs: Array<Double>)

Sets the coefficients for this controller.