Cuttlefish/com.roboctopi.cuttlefish.utils/APID

APID

class APID(var pGain: Double, var iGain: Double, var dGain: Double, initial: Double = 0.0, iLimit: Double = 1.0) : PID

Constructors

constructor(pGain: Double, iGain: Double, dGain: Double, initial: Double = 0.0, iLimit: Double = 1.0)

Properties

open override var d: Double

dFilterCoeffiecient

var dFilterCoeffiecient: Double

open override var dGain: Double

var dLimit: Double

open var f: Double

var f_function: (Double, Double) -> Double

open override var i: Double

open override var iGain: Double

var iGrowthLimit: Double

open override var iLimit: Double

open var maxPower: Double

open override var p: Double

open override var pGain: Double

open override var power: Double

var powerLimit: Double

open override var reiniting: Boolean

Functions

open override fun reInit()

Clears the Integral and derivative values. This should be used if a PID controller has not been in use for an extend period of time (more than a loop cycle) to avoid extreme integral build up.

open override fun update(state: Double, goal: Double): Double

open fun update(state: Double, velocity: Double, goal: Double = 0.0): Double

Update PID control loop