com.yobotics.simulationconstructionset.util
Class PIDController
java.lang.Object
com.yobotics.simulationconstructionset.util.PIDController
public class PIDController
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
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)
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)