Navigation/com.amarcolini.joos.control/PIDController

PIDController

class PIDController @JvmOverloads constructor(pid: PIDCoefficients, clock: NanoClock = NanoClock.system)

PID controller.

Parameters

pid

traditional PID coefficients

clock

Constructors

PIDController

@JvmOverloads

constructor(pid: PIDCoefficients, clock: NanoClock = NanoClock.system)

Properties

inputBounded

var inputBounded: Boolean

lastError

var lastError: Double

Error computed in the last call to update.

outputBounded

var outputBounded: Boolean

pid

var pid: PIDCoefficients

targetPosition

var targetPosition: Double

Target position (that is, the controller setpoint).

targetVelocity

var targetVelocity: Double

Target velocity.

tolerance

var tolerance: Double

The position error considered tolerable for isAtSetPoint to return true.

Functions

isAtSetPoint

fun isAtSetPoint(): Boolean

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

reset

fun reset()

Reset the controller's integral sum.

setInputBounds

fun setInputBounds(min: Double, max: Double)

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

setOutputBounds

fun setOutputBounds(min: Double, max: Double)

Sets bounds on the output of the controller.

setTarget

@JvmOverloads

fun setTarget(targetPosition: Double, targetVelocity: Double = this.targetVelocity)

Sets the target position, velocity, and acceleration.

update

@JvmOverloads

fun update(measuredPosition: Double, measuredVelocity: Double? = null): Double

Run a single iteration of the controller.