Xenith/com.rowanmcalpin.xenith.hardware.control/PDController

PDController

class PDController(kP: () -> Double = { 0.005 }, kD: () -> Double = { 0.0 }) : ControlLoop

This class controls a motor using proportional and derivative coefficients to calculate the power that the motor should be set to during any given time.

Parameters

the proportional coefficient

the derivative coefficient

Constructors

PDController

constructor(kP: Double, kD: Double)

This class controls a motor using proportional and derivative coefficients to calculate the power that the motor should be set to during any given time.

constructor(kP: () -> Double = { 0.005 }, kD: () -> Double = { 0.0 })

Functions

calculate

open override fun calculate(state: Double, target: Double): Double

Calculates the ideal motor power.

initialize

open override fun initialize()

Initializes the motor controller.

isWithinThreshold

open override fun isWithinThreshold(state: Double, target: Double, threshold: Double): Boolean

Checks if the motor is within a certain threshold of the target. Used when calculating if the motor should be running still. Checks the absolute value of the error (because it doesn't need to be calculating the direction the motor needs to move) against a threshold.

reset

open override fun reset()

Reset the control loop. Primarily used for timers but can be as complex as needed.