BunyipsLib/org.murraybridgebunyips.bunyipslib.external.pid/PIDFController

PIDFController

open class PIDFController : PIDF

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 val period: Double

open var setPoint: Double

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()

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

getPIDFController

open fun getPIDFController(): PIDFController

getPositionError

open fun getPositionError(): Double

open fun getTolerance(): Array<Double>

getVelocityError

open fun getVelocityError(): Double

open fun reset()

Resets the PIDF controller.

setCoefficients

open fun setCoefficients(coeffs: Array<Double>)

Sets the coefficients for this controller.

open fun setD(kd: Double)

open fun setF(kf: Double)

open fun setI(ki: Double)

setIntegrationBounds

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

Set the bounds for the integral term.

open fun setP(kp: Double)

open fun setPIDF(coefficients: PIDFCoefficients)

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

Set the current controller PID coefficients to the given coefficients.

open fun setTolerance(positionTolerance: Double)

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

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

open fun updatePIDF(coefficients: PIDFCoefficients)

Update the supplied PID coefficients with the current controller values.