class PIDFController (source)
PID controller with various feedforward components.
<init> |
PID controller with various feedforward components. PIDFController(pid: PIDCoefficients, kV: Double = 0.0, kA: Double = 0.0, kStatic: Double = 0.0, kF: (Double, Double?) -> Double = { _, _ -> 0.0 }, clock: NanoClock = NanoClock.system()) |
lastError |
Error computed in the last call to update. var lastError: Double |
targetAcceleration |
Target acceleration. var targetAcceleration: Double |
targetPosition |
Target position (that is, the controller setpoint). var targetPosition: Double |
targetVelocity |
Target velocity. var targetVelocity: Double |
reset |
Reset the controller's integral sum. fun reset(): Unit |
setInputBounds |
Sets bound on the input of the controller. The min and max values are considered modularly-equivalent (that is, the input wraps around). fun setInputBounds(min: Double, max: Double): Unit |
setOutputBounds |
Sets bounds on the output of the controller. fun setOutputBounds(min: Double, max: Double): Unit |
update |
Run a single iteration of the controller. fun update(measuredPosition: Double, measuredVelocity: Double? = null): Double |