BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.external.control/CompositeController

CompositeController

open class CompositeController : SystemController

Represents two recursively linked SystemController instances.

Author

Lucas Bubner, 2024

Since

6.0.0

See also

Constructors

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constructor(@NonNull first: SystemController, @NonNull second: SystemController, @NonNull combiner: DoubleBinaryOperator)
Create a new composite controller that combines two controllers.

Properties

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val first: SystemController
The first controller in the composite.
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val second: SystemController
The second controller in the composite.

Inherited properties

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val NULL: SystemController
A null controller that does nothing.

Functions

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open fun calculate(process: Double, setpoint: Double): Double
Calculate the next output of this control algorithm.
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@NonNull
open fun getCoefficients(): Array<Double>
Gets the coefficients of both controllers in this composite controller, concatenated as if they were one controller with a length equal to the sum of the lengths of the two coefficient arrays.
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@NonNull
open fun pidf(): Optional<PIDFController>
Gets the PIDF controller attached to this composite controller, if one exists.
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open fun reset()
Resets both controllers in this composite controller.
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open fun setCoefficients(@NonNull coeffs: Array<Double>)
Sets the coefficients of both controllers in this composite controller.

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.