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, NanoClock clock) 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, 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 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) 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

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

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)

clock - clock

PIDFController

@JvmOverloads
public PIDFController(@NotNull
                                    PIDCoefficients pid,
                                    double kV,
                                    double kA,
                                    double kStatic,
                                    @NotNull
                                    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)

PIDFController

@JvmOverloads
public PIDFController(@NotNull
                                    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

PIDFController

@JvmOverloads
public PIDFController(@NotNull
                                    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

PIDFController

@JvmOverloads
public PIDFController(@NotNull
                                    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

PIDFController

@JvmOverloads
public PIDFController(@NotNull
                                    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

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 update.

See Also:

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

@JvmOverloads
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

@JvmOverloads
public double update(double position,
                                   double velocity)

Run a single iteration of the controller.

Parameters:

position - current measured position (feedback)

velocity - feedforward velocity

update

@JvmOverloads
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.