com.yobotics.simulationconstructionset.util
Class PIDController

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.PIDController

public class PIDController
extends java.lang.Object


Constructor Summary
PIDController(DoubleYoVariable proportionalGain, DoubleYoVariable integralGain, DoubleYoVariable derivativeGain, DoubleYoVariable maxIntegralError, java.lang.String suffix, YoVariableRegistry registry)
           
PIDController(java.lang.String suffix, YoVariableRegistry registry)
           
 
Method Summary
 double compute(double currentPosition, double desiredPosition, double currentRate, double desiredRate, double deltaTime)
           
 double computeForAngles(double currentPosition, double desiredPosition, double currentRate, double desiredRate, double deltaTime)
           
 double getCumulativeError()
           
 double getDerivativeGain()
           
 double getIntegralGain()
           
 double getMaxIntegralError()
           
 double getPositionError()
           
 double getProportionalGain()
           
 double getRateError()
           
 void setCumulativeError(double error)
           
 void setDerivativeGain(double derivativeGain)
           
 void setIntegralGain(double integralGain)
           
 void setMaxIntegralError(double maxIntegralError)
           
 void setProportionalGain(double proportionalGain)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

PIDController

public PIDController(java.lang.String suffix,
                     YoVariableRegistry registry)

PIDController

public PIDController(DoubleYoVariable proportionalGain,
                     DoubleYoVariable integralGain,
                     DoubleYoVariable derivativeGain,
                     DoubleYoVariable maxIntegralError,
                     java.lang.String suffix,
                     YoVariableRegistry registry)
Method Detail

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()

getCumulativeError

public double getCumulativeError()

setCumulativeError

public void setCumulativeError(double error)

getIntegralGain

public double getIntegralGain()

getMaxIntegralError

public double getMaxIntegralError()

setIntegralGain

public void setIntegralGain(double integralGain)

setMaxIntegralError

public void setMaxIntegralError(double maxIntegralError)

compute

public double compute(double currentPosition,
                      double desiredPosition,
                      double currentRate,
                      double desiredRate,
                      double deltaTime)

computeForAngles

public double computeForAngles(double currentPosition,
                               double desiredPosition,
                               double currentRate,
                               double desiredRate,
                               double deltaTime)