com.acmerobotics.roadrunner.control

Class PIDFController

com.acmerobotics.roadrunner.control.PIDFController

public class PIDFController

PID controller with various feedforward components.

Constructor Detail

PIDFController

@JvmOverloads
public PIDFController(@NotNull
                                    PIDCoefficients pid,
                                    double kV,
                                    double kA,
                                    double kStatic,
                                    @NotNull
                                    kotlin.jvm.functions.Function2<? super java.lang.Double,? super java.lang.Double,java.lang.Double> kF,
                                    @NotNull
                                    NanoClock clock)

PID controller with various feedforward components.

PIDFController

@JvmOverloads
public PIDFController(@NotNull
                                    PIDCoefficients pid,
                                    double kV,
                                    double kA,
                                    double kStatic,
                                    @NotNull
                                    kotlin.jvm.functions.Function2<? super java.lang.Double,? super java.lang.Double,java.lang.Double> kF)

PID controller with various feedforward components.

PIDFController

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

PID controller with various feedforward components.

PIDFController

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

PID controller with various feedforward components.

PIDFController

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

PID controller with various feedforward components.

PIDFController

@JvmOverloads
public PIDFController(@NotNull
                                    PIDCoefficients pid)

PID controller with various feedforward components.

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).

getTargetVelocity

public double getTargetVelocity()

Target velocity.

setTargetVelocity

public void setTargetVelocity(double p)

Target velocity.

getTargetAcceleration

public double getTargetAcceleration()

Target acceleration.

setTargetAcceleration

public void setTargetAcceleration(double p)

Target acceleration.

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 measuredPosition,
                                   @Nullable
                                   java.lang.Double measuredVelocity)

Run a single iteration of the controller.

Parameters:

measuredPosition - measured position (feedback)

measuredVelocity - measured velocity

update

@JvmOverloads
public double update(double measuredPosition)

Run a single iteration of the controller.

Parameters:

measuredPosition - measured position (feedback)

reset

public void reset()

Reset the controller's integral sum.