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

ProfiledPIDController

open class ProfiledPIDController : SystemController

Implements a PID control loop whose setpoint is constrained by a trapezoid profile. Source

Since

3.5.0

Constructors

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constructor(Kp: Double, Ki: Double, Kd: Double, @NonNull constraints: TrapezoidProfile.Constraints)
Allocates a ProfiledPIDController with the given constants for Kp, Ki, and Kd.

Properties

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val controller: PIDController
The underlying PID controller used for ProfiledPID.
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Inherited properties

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val NULL: SystemController
A null controller that does nothing.

Functions

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open fun atGoal(): Boolean
Returns true if the error is within the tolerance of the error.
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open fun atSetpoint(): Boolean
Returns true if the error is within the tolerance of the error.
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open fun calculate(measurement: Double): Double
open fun calculate(measurement: Double, @NonNull newGoal: TrapezoidProfile.State): Double
open fun calculate(measurement: Double, @NonNull newGoal: TrapezoidProfile.State, @NonNull newConstraints: TrapezoidProfile.Constraints): Double
Returns the next output of the PID controller.
open fun calculate(measurement: Double, newGoal: Double): Double
Returns the next output of the PIDController.
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@NonNull
open fun getCoefficients(): Array<Double>
Gets the current coefficients for this controller.
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open fun getD(): Double
Gets the differential coefficient.
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open fun getI(): Double
Gets the integral coefficient.
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open fun getP(): Double
Gets the proportional coefficient.
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open fun getPeriod(): Double
Gets the period of this controller.
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open fun getPositionError(): Double
Returns the difference between the setpoint and the measurement.
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open fun getVelocityError(): Double
Returns the change in error per second.
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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()
Reset the previous error, the integral term, and disable the controller.
@NonNull
open fun reset(@NonNull measurement: TrapezoidProfile.State): ProfiledPIDController
@NonNull
open fun reset(measuredPosition: Double): ProfiledPIDController
@NonNull
open fun reset(measuredPosition: Double, measuredVelocity: Double): ProfiledPIDController
Reset the previous error and the integral term.
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open fun setCoefficients(@NonNull coeffs: Array<Double>)
Sets the coefficients for this controller.
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@NonNull
open fun setConstraints(@NonNull constraints: TrapezoidProfile.Constraints): ProfiledPIDController
Set velocity and acceleration constraints for goal.
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@NonNull
open fun setD(Kd: Double): ProfiledPIDController
Sets the differential coefficient of the PID controller gain.
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@NonNull
open fun setGoal(goal: Double): ProfiledPIDController
Sets the goal for the ProfiledPIDController.
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@NonNull
open fun setI(Ki: Double): ProfiledPIDController
Sets the integral coefficient of the PID controller gain.
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@NonNull
open fun setP(Kp: Double): ProfiledPIDController
Sets the proportional coefficient of the PID controller gain.
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@NonNull
open fun setPID(Kp: Double, Ki: Double, Kd: Double): ProfiledPIDController
Sets the PID Controller gain parameters.
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@NonNull
open fun setTolerance(positionTolerance: Double): ProfiledPIDController
@NonNull
open fun setTolerance(positionTolerance: Double, velocityTolerance: Double): ProfiledPIDController
Sets the error which is considered tolerable for use with atSetpoint().

Inherited functions

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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 setCoefficients(@NonNull coeffs: Array<Double>)
Sets the coefficients for this controller.