com.acmerobotics.roadrunner.control

Class PIDFController

com.acmerobotics.roadrunner.control.PIDFController

public class PIDFController

PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.

Constructor Summary

Constructors

Constructor and Description
PIDFController(PIDCoefficients pid, double kV, double kA, double kStatic, kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> kF) PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.
PIDFController(PIDCoefficients pid, double kV, double kA, double kStatic) PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.
PIDFController(PIDCoefficients pid, double kV, double kA) PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.
PIDFController(PIDCoefficients pid, double kV) PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.
PIDFController(PIDCoefficients pid) PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.

Method Summary

Modifier and Type	Method and Description
double	getLastError() Error computed in the last call to PIDFController.update.
double	getTargetPosition() Target position (that is, the controller setpoint).
void	reset() Reset the controller's integral sum.
void	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).
void	setOutputBounds(double min, double max) Sets bounds on the output of the controller.
void	setTargetPosition(double p) Target position (that is, the controller setpoint).
double	update(double position, double velocity, double acceleration, double currentTimestamp) Run a single iteration of the controller.
double	update(double position, double velocity, double acceleration) Run a single iteration of the controller.
double	update(double position, double velocity) Run a single iteration of the controller.
double	update(double position) Run a single iteration of the controller.

Constructor Detail

PIDFController

public PIDFController(PIDCoefficients pid,
                      double kV,
                      double kA,
                      double kStatic,
                      kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> kF)

PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.

Parameters:

pid - traditional PID coefficients

kV - feedforward velocity gain

kA - feedforward acceleration gain

kStatic - additive feedforward constant

kF - custom, position-dependent feedforward (e.g., a gravity term for arms)

pid - traditional PID coefficients

kV - feedforward velocity gain

kA - feedforward acceleration gain

kStatic - additive feedforward constant

kF - custom, position-dependent feedforward (e.g., a gravity term for arms)

PIDFController

public PIDFController(PIDCoefficients pid,
                      double kV,
                      double kA,
                      double kStatic)

PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.

Parameters:

pid - traditional PID coefficients

kV - feedforward velocity gain

kA - feedforward acceleration gain

kStatic - additive feedforward constant

pid - traditional PID coefficients

kV - feedforward velocity gain

kA - feedforward acceleration gain

kStatic - additive feedforward constant

PIDFController

public PIDFController(PIDCoefficients pid,
                      double kV,
                      double kA)

PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.

Parameters:

pid - traditional PID coefficients

kV - feedforward velocity gain

kA - feedforward acceleration gain

pid - traditional PID coefficients

kV - feedforward velocity gain

kA - feedforward acceleration gain

PIDFController

public PIDFController(PIDCoefficients pid,
                      double kV)

PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.

Parameters:

pid - traditional PID coefficients

kV - feedforward velocity gain

pid - traditional PID coefficients

kV - feedforward velocity gain

PIDFController

public PIDFController(PIDCoefficients pid)

PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants.

Parameters:

pid - traditional PID coefficients

pid - traditional PID coefficients

Method Detail

getTargetPosition

public double getTargetPosition()

Target position (that is, the controller setpoint).

setTargetPosition

public void setTargetPosition(double p)

Target position (that is, the controller setpoint).

getLastError

public double getLastError()

Error computed in the last call to PIDFController.update.

See Also:

PIDFController.update

setInputBounds

public void 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).

Parameters:

min - minimum input

max - maximum input

setOutputBounds

public void setOutputBounds(double min,
                            double max)

Sets bounds on the output of the controller.

Parameters:

min - minimum output

max - maximum output

update

public double update(double position,
                     double velocity,
                     double acceleration,
                     double currentTimestamp)

Run a single iteration of the controller.

Parameters:

position - current measured position (feedback)

velocity - feedforward velocity

acceleration - feedforward acceleration

currentTimestamp - timestamp for the above parameters (intendend for simulation)

update

public double update(double position,
                     double velocity,
                     double acceleration)

Run a single iteration of the controller.

Parameters:

position - current measured position (feedback)

velocity - feedforward velocity

acceleration - feedforward acceleration

update

public double update(double position,
                     double velocity)

Run a single iteration of the controller.

Parameters:

position - current measured position (feedback)

velocity - feedforward velocity

update

public double update(double position)

Run a single iteration of the controller.

Parameters:

position - current measured position (feedback)

reset

public void reset()

Reset the controller's integral sum.