com.yobotics.simulationconstructionset.util
Class PDController

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

public class PDController
extends java.lang.Object


Constructor Summary
PDController(DoubleYoVariable proportionalGain, DoubleYoVariable derivativeGain, java.lang.String suffix, YoVariableRegistry registry)
           
PDController(java.lang.String suffix, YoVariableRegistry registry)
           
 
Method Summary
 double compute(double currentPosition, double desiredPosition, double currentRate, double desiredRate)
           
 double computeForAngles(double currentPosition, double desiredPosition, double currentRate, double desiredRate)
           
 double getDerivativeGain()
           
 double getPositionError()
           
 double getProportionalGain()
           
 double getRateError()
           
 void setDerivativeGain(double derivativeGain)
           
 void setProportionalGain(double proportionalGain)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

PDController

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

PDController

public PDController(DoubleYoVariable proportionalGain,
                    DoubleYoVariable derivativeGain,
                    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()

compute

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

computeForAngles

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