Package com.stuypulse.stuylib.control

Class ControllerGroup

java.lang.Object

com.stuypulse.stuylib.control.Controller

com.stuypulse.stuylib.control.ControllerGroup

public class ControllerGroup
extends Controller

Controllers can be grouped together in a "controller group" if they have the same setpoint and measurement.

This allows different controller implementations that are controlling the same variable to be concisely composed together.

Constructor Summary

Constructors

Constructor	Description
ControllerGroup(Controller controller, Controller... controllers)	Create a controller group

Method Summary

Modifier and Type	Method	Description
protected double	calculate(double setpoint, double measurement)	Updates the internal controllers with the setpoint and measurement and returns their combined output.

Methods inherited from class com.stuypulse.stuylib.control.Controller

add, getError, getMeasurement, getOutput, getSetpoint, isDone, setMeasurementFilter, setOutputFilter, setSetpointFilter, update

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

ControllerGroup

public ControllerGroup(Controller controller,
 Controller... controllers)

Create a controller group

Method Details

calculate

protected double calculate(double setpoint,
 double measurement)

Updates the internal controllers with the setpoint and measurement and returns their combined output.

Specified by:

calculate in class Controller

Parameters:

setpoint - setpoint

measurement - measurement

Returns:

summed output of the interal controllers