BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.external.control.pid/PIDController

PIDController

open class PIDController : PIDFController

A PIDF controller with no feedforward. Source

Since

1.0.0-pre

Inheritors

Constructors

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constructor(kp: Double, ki: Double, kd: Double)
Default constructor with just the coefficients.
constructor(kp: Double, ki: Double, kd: Double, sp: Double, pv: Double)
The extended constructor.

Inherited properties

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open var clearIOnNewSetpoint: Boolean
Whether to clear the integral term when a new setpoint is set.
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protected open var continuousInput: Boolean
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open var DEFAULT_DERIVATIVE_LP_GAIN: Double
The default smoothing/low-pass gain for the derivative (kD) term.
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open var errorToleranceD: Double
The derivative/velocity error tolerance.
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open var errorToleranceP: Double
The positional error tolerance.
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open var iZone: Double
The zone around the error where the integral term is active.
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open var kD: Double
Derivative gain.
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open var kF: Double
Feedforward setpoint gain.
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open var kI: Double
Integral gain.
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open var kP: Double
Proportional gain.
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open var lowerClamp: Double
The lower clamp for the output.
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protected open var maxContinuousInput: Double
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open var maxIClamp: Double
The maximum applied value for the integral term.
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protected open var minContinuousInput: Double
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open var minIClamp: Double
The minimum applied value for the integral term.
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val NULL: SystemController
A null controller that does nothing.
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open val period: Double
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open var upperClamp: Double
The upper clamp for the output.

Functions

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@NonNull
open fun setPID(@NonNull coefficients: PIDCoefficients): PIDController
@NonNull
open fun setPID(kp: Double, ki: Double, kd: Double): PIDController
Set the current controller PID coefficients to the given coefficients.
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@NonNull
open fun updatePID(@NonNull coefficients: PIDCoefficients): PIDController
Update the supplied PID coefficients with the current controller values.

Inherited functions

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open fun atSetpoint(): Boolean
Returns true if the error is within the percentage of the total input range, determined by setTolerance.
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abstract fun calculate(process: Double, setpoint: Double): Double
Calculate the next output of this control algorithm.
open fun calculate(): Double
open fun calculate(pv: Double, sp: Double): Double
Calculates the next output of the PIDF controller.
open fun calculate(pv: Double): Double
Calculates the control value, u(t).
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@NonNull
open fun clearTotalError(): PIDFController
Clear the integral term.
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@NonNull
open fun compose(@NonNull other: SystemController, @NonNull combiner: DoubleBinaryOperator): CompositeController
Composes this controller with another controller, returning a new controller that is the composition of the two.
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open fun disableContinuousInput(): PIDFController
Disables continuous input.
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open fun enableContinuousInput(minInput: Double, maxInput: Double): PIDFController
Enables continuous input.
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open fun getD(): Double
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open fun getDerivativeSmoothingGain(): Double
Get the derivative smoothing coefficient.
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open fun getError(): Double
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open fun getF(): Double
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open fun getI(): Double
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open fun getP(): Double
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open fun getSetpoint(): Double
Returns the current setpoint of the PIDFController.
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open fun getTotalError(): Double
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open fun isContinuousInputEnabled(): Boolean
Whether the input is continuous.
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@NonNull
open fun pidf(): Optional<PIDFController>
Get the PIDF controller associated with this controller, if applicable.
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open fun reset()
Resets the PIDF controller.
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@NonNull
open fun setClearIntegralOnNewSetpoint(clearIOnNewSetpoint: Boolean): PIDFController
Sets whether the integral term should be cleared when a new setpoint is set.
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open fun setCoefficients(@NonNull coeffs: Array<Double>)
Sets the coefficients for this controller.
open fun setCoefficients(@NonNull coeffs: Array<Double>)
Note!
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@NonNull
open fun setD(kd: Double): PIDFController
Set the Derivative coefficient on this controller
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open fun setDerivativeSmoothingGain(lowPassGain: Double): PIDFController
Set the derivative smoothing coefficient.
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@NonNull
open fun setF(kf: Double): PIDFController
Set the setpoint Feedforward coefficient on this controller
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@NonNull
open fun setI(ki: Double): PIDFController
Set the Integral coefficient on this controller
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@NonNull
open fun setIntegrationBounds(integralMin: Double, integralMax: Double): PIDFController
Set the bounds for the integral term.
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open fun setIntegrationZone(iZone: Double): PIDFController
Sets the Integration zone range.
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@NonNull
open fun setOutputClamps(lower: Double, upper: Double): PIDFController
Clamps the maximum output magnitude that can be achieved via calculate.
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@NonNull
open fun setP(kp: Double): PIDFController
Set the Proportional coefficient on this controller
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@NonNull
open fun setPIDF(@NonNull coefficients: PIDFCoefficients): PIDFController
@NonNull
open fun setPIDF(kp: Double, ki: Double, kd: Double, kf: Double): PIDFController
Set the current controller PID coefficients to the given coefficients.
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@NonNull
open fun setSetpoint(sp: Double): PIDFController
Sets the setpoint for the PIDFController
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@NonNull
open fun setTolerance(positionTolerance: Double): PIDFController
@NonNull
open fun setTolerance(@NonNull tolerances: Array<Double>): PIDFController
@NonNull
open fun setTolerance(positionTolerance: Double, derivativeTolerance: Double): PIDFController
Sets the error which is considered tolerable for use with atSetpoint.
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@NonNull
open fun updatePIDF(@NonNull coefficients: PIDFCoefficients): PIDFController
Update the supplied PID coefficients with the current controller values.