Package com.cdarobotics.cdalib.controllers

Class PIDController

java.lang.Object

com.cdarobotics.cdalib.controllers.Controller

com.cdarobotics.cdalib.controllers.PIDController

public class PIDController
extends Controller

A proportional-integral-derivative (PID) feedback Controller. The output is the sum of a proportional term on the current error, an integral term accumulated with trapezoidal integration, and a derivative term on the rate of change of error.

Field Summary

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

target

Constructor Summary

Constructors

Constructor	Description
PIDController(double target, double kP, double kI, double kD)

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

PIDController

public PIDController(double target,
 double kP,
 double kI,
 double kD)

Parameters:

target - the initial setpoint

kP - the proportional gain

kI - the integral gain

kD - the derivative gain

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