Navigation/com.amarcolini.joos.control/PIDController

PIDController

public final class PIDController

PID controller.

Parameters

pid

traditional PID coefficients

clock

Constructors

PIDController

@JvmOverloads()

public PIDController PIDController(PIDCoefficients pid, NanoClock clock)

@JvmOverloads()

public PIDController PIDController(PIDCoefficients pid)

Properties

inputBounded

private Boolean inputBounded

lastError

private final Double lastError

Error computed in the last call to update.

outputBounded

private Boolean outputBounded

pid

private PIDCoefficients pid

targetPosition

private Double targetPosition

Target position (that is, the controller setpoint).

targetVelocity

private Double targetVelocity

Target velocity.

tolerance

private Double tolerance

The position error considered tolerable for isAtSetPoint to return true.

Functions

getInputBounded

public final Boolean getInputBounded()

getLastError

public final Double getLastError()

Error computed in the last call to update.

getOutputBounded

public final Boolean getOutputBounded()

getPid

public final PIDCoefficients getPid()

getTargetPosition

public final Double getTargetPosition()

Target position (that is, the controller setpoint).

getTargetVelocity

public final Double getTargetVelocity()

Target velocity.

getTolerance

public final Double getTolerance()

The position error considered tolerable for isAtSetPoint to return true.

isAtSetPoint

public final Boolean isAtSetPoint()

Returns whether the controller is at the target position with an error within tolerance.

reset

public final Unit reset()

Reset the controller's integral sum.

setInputBounded

public final Unit setInputBounded(Boolean inputBounded)

setInputBounds

public final Unit setInputBounds(Double min, Double max)

Sets bound on the input of the controller. The min and max values are considered modularly-equivalent (that is, the input wraps around).

setOutputBounded

public final Unit setOutputBounded(Boolean outputBounded)

setOutputBounds

public final Unit setOutputBounds(Double min, Double max)

Sets bounds on the output of the controller.

setPid

public final Unit setPid(PIDCoefficients pid)

setTarget

@JvmOverloads()

public final Unit setTarget(Double targetPosition)

@JvmOverloads()

public final Unit setTarget(Double targetPosition, Double targetVelocity)

Sets the target position, velocity, and acceleration.

setTargetPosition

public final Unit setTargetPosition(Double targetPosition)

Target position (that is, the controller setpoint).

setTargetVelocity

public final Unit setTargetVelocity(Double targetVelocity)

Target velocity.

setTolerance

public final Unit setTolerance(Double tolerance)

The position error considered tolerable for isAtSetPoint to return true.

update

@JvmOverloads()

public final Double update(Double measuredPosition)

@JvmOverloads()

public final Double update(Double measuredPosition, Double measuredVelocity)

Run a single iteration of the controller.