Package com.cdarobotics.cdalib.controllers

Class NullController

java.lang.Object

com.cdarobotics.cdalib.controllers.Controller

com.cdarobotics.cdalib.controllers.NullController

public class NullController
extends Controller

A no-op Controller whose update(double, double) always returns 0. Useful as a placeholder or as a disabled term within a CompoundController.

Field Summary

Fields inherited from class com.cdarobotics.cdalib.controllers.Controller

target

Constructor Summary

Constructors

Constructor	Description
NullController(double target)

Method Summary

Modifier and Type	Method	Description
double	update(double current, double dt)	Computes the control output for this loop.

Methods inherited from class com.cdarobotics.cdalib.controllers.Controller

getTarget, setTarget

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

NullController

public NullController(double target)

Parameters:

target - the initial setpoint (unused, since the output is always 0)

Method Details

update

public double update(double current,
 double dt)

Description copied from class: Controller

Computes the control output for this loop.

Specified by:

update in class Controller

Parameters:

current - the current measured value

dt - the time elapsed since the previous update, in seconds

Returns:

the control output to apply