com.yobotics.simulationconstructionset.util
Class PDController
java.lang.Object
com.yobotics.simulationconstructionset.util.PDController
public class PDController
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
PDController
public PDController(java.lang.String suffix,
YoVariableRegistry registry)
PDController
public PDController(DoubleYoVariable proportionalGain,
DoubleYoVariable derivativeGain,
java.lang.String suffix,
YoVariableRegistry registry)
getProportionalGain
public double getProportionalGain()
getDerivativeGain
public double getDerivativeGain()
setProportionalGain
public void setProportionalGain(double proportionalGain)
setDerivativeGain
public void setDerivativeGain(double derivativeGain)
getPositionError
public double getPositionError()
getRateError
public double getRateError()
compute
public double compute(double currentPosition,
double desiredPosition,
double currentRate,
double desiredRate)
computeForAngles
public double computeForAngles(double currentPosition,
double desiredPosition,
double currentRate,
double desiredRate)