javaclient2.extra
Class Controller

java.lang.Object
  javaclient2.extra.Controller

Direct Known Subclasses:

PController, PDController, PIController, PIDController

public abstract class Controller
extends java.lang.Object

Abstract controller implementation. Used as a starting point for P, PI, PD, PID controllers.

Author:

Radu Bogdan Rusu

Field Summary

protected float	currE current error
protected float	eSum the sum of all errors so far
protected float	goal set the controller's goal
protected float	lastE last error

Constructor Summary

Controller()

Method Summary

protected float	deltaE() Get the difference between the current error and the last error.
void	setGoal(float newGoal) Set a new goal for the controller.

Methods inherited from class java.lang.Object

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

Field Detail

goal

protected float goal

set the controller's goal

eSum

protected float eSum

the sum of all errors so far

currE

protected float currE

current error

lastE

protected float lastE

last error

Constructor Detail

Controller

public Controller()

Method Detail

setGoal

public void setGoal(float newGoal)

Set a new goal for the controller.

Parameters:

newGoal - the new goal for the controller

deltaE

protected float deltaE()

Get the difference between the current error and the last error.

Returns:

the difference between the current error and the last error