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

SystemController

@FunctionalInterface
interface SystemController

Generic interface that represents a controller algorithm to move a system from one state to another.

Author

Lucas Bubner, 2024

Since

4.0.0

Inheritors

Properties

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val NULL: SystemController
A null controller that does nothing.

Functions

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abstract fun calculate(process: Double, setpoint: Double): Double
Calculate the next output of this control algorithm.
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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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@NonNull
open fun getCoefficients(): Array<Double>
Gets the current coefficients for this controller.
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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 this controller back to an un-accumulated state, if applicable.
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open fun setCoefficients(@NonNull coeffs: Array<Double>)
open fun setCoefficients(@NonNull coeffs: Array<Double>)
Sets the coefficients for this controller.