javaclient2.extra
Class PController

java.lang.Object
  javaclient2.extra.Controller
      javaclient2.extra.PController

public class PController
extends Controller

Proportional controller implementation.

Author:

Radu Bogdan Rusu

Field Summary

protected float

kp Proportional constant

Fields inherited from class javaclient2.extra.Controller

currE, eSum, goal, lastE

Constructor Summary

PController(float Kp)
Constructor for PController.

Method Summary

float	getCommand(float currentOutput) Calculate and return the controller's command for the controlled system.
float	getKp() Get the current value of the proportional constant.
void	setKp(float newKp) Set a new value for the proportional constant.

Methods inherited from class javaclient2.extra.Controller

deltaE, setGoal

Methods inherited from class java.lang.Object

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

Field Detail

kp

protected float kp

Proportional constant

Constructor Detail

PController

public PController(float Kp)

Constructor for PController.

Parameters:

Kp - the proportional constant

Method Detail

getCommand

public float getCommand(float currentOutput)

Calculate and return the controller's command for the controlled system.

Parameters:

currentOutput - the current output of the system

Returns:

the new calculated command for the system

getKp

public float getKp()

Get the current value of the proportional constant.

Returns:

Kp as a double

setKp

public void setKp(float newKp)

Set a new value for the proportional constant.

Parameters:

newKp - the new value for Kp