Package com.stuypulse.stuylib.control.angle

Class AngleControllerGroup

java.lang.Object

com.stuypulse.stuylib.control.angle.AngleController

com.stuypulse.stuylib.control.angle.AngleControllerGroup

public class AngleControllerGroup
extends AngleController

Angle 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
AngleControllerGroup(AngleController controller, AngleController... controllers)	Create a controller group

Method Summary

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

Methods inherited from class com.stuypulse.stuylib.control.angle.AngleController

add, getError, getMeasurement, getOutput, getSetpoint, isDoneDegrees, isDoneRadians, setMeasurementFilter, setOutputFilter, setSetpointFilter, update

Methods inherited from class java.lang.Object

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

Constructor Details

AngleControllerGroup

public AngleControllerGroup(AngleController controller,
 AngleController... controllers)

Create a controller group

Method Details

calculate

protected double calculate(Angle setpoint,
 Angle measurement)

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

Specified by:

calculate in class AngleController

Parameters:

setpoint - setpoint

measurement - measurement

Returns:

summed output of the interal controllers