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

ProfiledPIDController

open class ProfiledPIDController : PIDController

Implements a PID control loop whose setpoint is constrained by a trapezoid profile. Users should call reset() when they first start running the controller to avoid unwanted behavior. Source

Since

3.5.0

Constructors

ProfiledPIDController

constructor(kP: Double, kI: Double, kD: Double, @NonNull constraints: TrapezoidProfile.Constraints)

Allocates a ProfiledPIDController with the given constants for kP, kI, and kD.

Properties

goal

@get:NonNull

@set:NonNull

open var goal: TrapezoidProfile.State

Inherited properties

clearIOnNewSetpoint

open var clearIOnNewSetpoint: Boolean

Whether to clear the integral term when a new setpoint is set.

continuousInput

protected open var continuousInput: Boolean

DEFAULT_DERIVATIVE_LP_GAIN

open var DEFAULT_DERIVATIVE_LP_GAIN: Double

The default smoothing/low-pass gain for the derivative (kD) term.

errorToleranceD

open var errorToleranceD: Double

The derivative/velocity error tolerance.

errorToleranceP

open var errorToleranceP: Double

The positional error tolerance.

iZone

open var iZone: Double

The zone around the error where the integral term is active.

open var kD: Double

Derivative gain.

open var kF: Double

Feedforward setpoint gain.

open var kI: Double

Integral gain.

open var kP: Double

Proportional gain.

lowerClamp

open var lowerClamp: Double

The lower clamp for the output.

maxContinuousInput

protected open var maxContinuousInput: Double

maxIClamp

open var maxIClamp: Double

The maximum applied value for the integral term.

minContinuousInput

protected open var minContinuousInput: Double

minIClamp

open var minIClamp: Double

The minimum applied value for the integral term.

NULL

val NULL: SystemController

A null controller that does nothing.

period

open val period: Double

upperClamp

open var upperClamp: Double

The upper clamp for the output.

Functions

atGoal

open fun atGoal(): Boolean

Returns true if the error is within the tolerance of the error.

calculate

open fun calculate(measurement: Double): Double

open fun calculate(measurement: Double, @NonNull newGoal: TrapezoidProfile.State): Double

open fun calculate(measurement: Double, @NonNull newGoal: TrapezoidProfile.State, @NonNull newConstraints: TrapezoidProfile.Constraints): Double

Returns the next output of the PID controller.

open fun calculate(measurement: Double, newGoal: Double): Double

Returns the next output of the PIDController.

getSetPoint

@NonNull

open fun getSetPoint(): TrapezoidProfile.State

Returns the current setpoint of the ProfiledPIDController.

reset

@NonNull

open fun reset(@NonNull measurement: TrapezoidProfile.State): ProfiledPIDController

@NonNull

open fun reset(measuredPosition: Double): ProfiledPIDController

@NonNull

open fun reset(measuredPosition: Double, measuredVelocity: Double): ProfiledPIDController

Reset the previous error and the integral term.

setConstraints

@NonNull

open fun setConstraints(@NonNull constraints: TrapezoidProfile.Constraints): ProfiledPIDController

Set velocity and acceleration constraints for goal.

setGoal

@NonNull

open fun setGoal(goal: Double): ProfiledPIDController

Sets the goal for the ProfiledPIDController.

Inherited functions

atSetpoint

open fun atSetpoint(): Boolean

Returns true if the error is within the percentage of the total input range, determined by setTolerance.

calculate

abstract fun calculate(process: Double, setpoint: Double): Double

Calculate the next output of this control algorithm.

open fun calculate(): Double

Calculates the next output of the PIDF controller.

clearTotalError

@NonNull

open fun clearTotalError(): PIDFController

Clear the integral term.

compose

@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.

disableContinuousInput

open fun disableContinuousInput(): PIDFController

Disables continuous input.

enableContinuousInput

open fun enableContinuousInput(minInput: Double, maxInput: Double): PIDFController

Enables continuous input.

getCoefficients

@NonNull

open fun getCoefficients(): Array<Double>

getD

open fun getD(): Double

getDerivativeSmoothingGain

open fun getDerivativeSmoothingGain(): Double

Get the derivative smoothing coefficient.

getError

open fun getError(): Double

getErrorDerivative

open fun getErrorDerivative(): Double

getF

open fun getF(): Double

getI

open fun getI(): Double

getP

open fun getP(): Double

getSetpoint

open fun getSetpoint(): Double

Returns the current setpoint of the PIDFController.

getTolerance

@NonNull

open fun getTolerance(): Array<Double>

getTotalError

open fun getTotalError(): Double

isContinuousInputEnabled

open fun isContinuousInputEnabled(): Boolean

Whether the input is continuous.

pidf

@NonNull

open fun pidf(): Optional<PIDFController>

Get the PIDF controller associated with this controller, if applicable.

reset

open fun reset()

Resets the PIDF controller.

setClearIntegralOnNewSetpoint

@NonNull

open fun setClearIntegralOnNewSetpoint(clearIOnNewSetpoint: Boolean): PIDFController

Sets whether the integral term should be cleared when a new setpoint is set.

setCoefficients

open fun setCoefficients(@NonNull coeffs: Array<Double>)

Sets the coefficients for this controller.

open fun setCoefficients(@NonNull coeffs: Array<Double>)

Note!

setD

@NonNull

open fun setD(kd: Double): PIDFController

Set the Derivative coefficient on this controller

setDerivativeSmoothingGain

open fun setDerivativeSmoothingGain(lowPassGain: Double): PIDFController

Set the derivative smoothing coefficient.

setF

@NonNull

open fun setF(kf: Double): PIDFController

Set the setpoint Feedforward coefficient on this controller

setI

@NonNull

open fun setI(ki: Double): PIDFController

Set the Integral coefficient on this controller

setIntegrationBounds

@NonNull

open fun setIntegrationBounds(integralMin: Double, integralMax: Double): PIDFController

Set the bounds for the integral term.

setIntegrationZone

open fun setIntegrationZone(iZone: Double): PIDFController

Sets the Integration zone range.

setOutputClamps

@NonNull

open fun setOutputClamps(lower: Double, upper: Double): PIDFController

Clamps the maximum output magnitude that can be achieved via calculate.

setP

@NonNull

open fun setP(kp: Double): PIDFController

Set the Proportional coefficient on this controller

setPID

@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.

setPIDF

@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.

setSetpoint

@NonNull

open fun setSetpoint(sp: Double): PIDFController

Sets the setpoint for the PIDFController

setTolerance

@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.

updatePID

@NonNull

open fun updatePID(@NonNull coefficients: PIDCoefficients): PIDController

Update the supplied PID coefficients with the current controller values.

updatePIDF

@NonNull

open fun updatePIDF(@NonNull coefficients: PIDFCoefficients): PIDFController

Update the supplied PID coefficients with the current controller values.