Package com.stuypulse.stuylib.control.angle.feedback

Class AnglePIDController

java.lang.Object

com.stuypulse.stuylib.control.angle.AngleController

com.stuypulse.stuylib.control.angle.feedback.AnglePIDController

public class AnglePIDController
extends AngleController

This PID controller is built by extending the AngleController class. It has a dynamic rate, so it can detect how much time has passed between each update. It is made to be easy to use and simple to understand while still being accurate.

The angle PID controller class is ALWAYS in units of *RADIANS*

Constructor Summary

Constructors

Constructor	Description
AnglePIDController()	Creates a blank PIDController that doesn't move
AnglePIDController(Number p, Number i, Number d)

Method Summary

Modifier and Type	Method	Description
protected double	calculate(Angle setpoint, Angle measurement)	Calculates the output of the controller given a setpoint and measurement.
double	getD()
double	getI()
double	getP()
void	reset()	Resets the integrator in the PIDController.
AnglePIDController	setD(Number d)
AnglePIDController	setDerivativeFilter(IFilter... derivativeFilter)	Add a filter to the error velocity / derivative of the PID controller.
AnglePIDController	setI(Number i)
AnglePIDController	setIntegratorFilter(Number range, Number limit)	Add constraints to the integral of the PID Controller
AnglePIDController	setP(Number p)
AnglePIDController	setPID(AnglePIDController pidValues)
AnglePIDController	setPID(Number p, Number i, Number d)

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

AnglePIDController

public AnglePIDController(Number p,
 Number i,
 Number d)

Parameters:

p - The Proportional Multiplier

i - The Integral Multiplier

d - The Derivative Multiplier

AnglePIDController

public AnglePIDController()

Creates a blank PIDController that doesn't move

Method Details

reset

public void reset()

Resets the integrator in the PIDController. This automatically gets called if the gap between update() commands is too large

calculate

protected double calculate(Angle setpoint,
 Angle measurement)

Description copied from class: AngleController

Calculates the output of the controller given a setpoint and measurement.

Specified by:

calculate in class AngleController

Parameters:

setpoint - setpoint

measurement - measurement

Returns:

calculated output

getP

public double getP()

Returns:

the P value being used by the PID controller.

getI

public double getI()

Returns:

the P value being used by the PID controller.

getD

public double getD()

Returns:

the P value being used by the PID controller.

setP

public AnglePIDController setP(Number p)

Parameters:

p - new p value used by the PID controller.

Returns:

reference to PIDController (so you can chain the commands together)

setI

public AnglePIDController setI(Number i)

Parameters:

i - new i value used by the PID controller.

Returns:

reference to PIDController (so you can chain the commands together)

setD

public AnglePIDController setD(Number d)

Parameters:

d - new d value used by the PID controller.

Returns:

reference to PIDController (so you can chain the commands together)

setPID

public AnglePIDController setPID(Number p,
 Number i,
 Number d)

Parameters:

p - new p value used by the PID controller.

i - new i value used by the PID controller.

d - new d value used by the PID controller.

Returns:

reference to PIDController (so you can chain the commands together)

setPID

public AnglePIDController setPID(AnglePIDController pidValues)

Parameters:

pidValues - PIDController that stores the PID values

Returns:

reference to PIDController (so you can chain the commands together)

setIntegratorFilter

public AnglePIDController setIntegratorFilter(Number range,
 Number limit)

Add constraints to the integral of the PID Controller

Parameters:

range - the range of error in which the integral is allowed to accumulate (0 will disable)

limit - the max / min the integral is allowed to accumulate to (0 will disables)

Returns:

reference to PIDController (so you can chain the commands together)

setDerivativeFilter

public AnglePIDController setDerivativeFilter(IFilter... derivativeFilter)

Add a filter to the error velocity / derivative of the PID controller.

Parameters:

derivativeFilter - the filter to apply to derivative

Returns:

reference to PIDController (so you can chain the commands together)