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

PIDController

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

This is a control class using proportional, integral, and derivative coefficients to calculate an optimal output.

Parameters

the proportional coefficient

the integral coefficient

the derivative coefficient

Constructors

PIDController

constructor(kP: Double, kI: Double, kD: Double)

This is a control class using proportional, integral, and derivative coefficients to calculate an optimal output.

constructor(coefficients: PIDTriplet)

This is a control class using proportional, integral, and derivative coefficients to calculate an optimal output.

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

Functions

calculate

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

Calculates the ideal output state.

initialize

open override fun initialize()

Initializes the control loop.

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.