javaclient2.extra
Class PIDController

java.lang.Object
  javaclient2.extra.Controller
      javaclient2.extra.PIDController

Direct Known Subclasses:

HeadingControl, PositionControl

public class PIDController
extends Controller

Proportional-Integral-Derivative controller implementation.

Author:

Radu Bogdan Rusu

Field Summary

protected float	kd Derivative constant
protected float	ki Integral constant
protected float	kp Proportional constant

Fields inherited from class javaclient2.extra.Controller

currE, eSum, goal, lastE

Constructor Summary

PIDController(float Kp, float Ki, float Kd)
Constructor for PIDController.

Method Summary

float	getCommand(float currentOutput) Calculate and return the controller's command for the controlled system.
double	getKd() Get the current value of the derivative constant.
float	getKi() Get the current value of the integral constant.
float	getKp() Get the current value of the proportional constant.
void	setKd(float newKd) Set a new value for the derivative constant.
void	setKi(float newKi) Set a new value for the integral 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

ki

protected float ki

Integral constant

kd

protected float kd

Derivative constant

Constructor Detail

PIDController

public PIDController(float Kp,
                     float Ki,
                     float Kd)

Constructor for PIDController.

Parameters:

Kp - the proportional constant

Ki - the integral constant

Kd - the derivative 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

getKi

public float getKi()

Get the current value of the integral constant.

Returns:

Ki as a double

setKi

public void setKi(float newKi)

Set a new value for the integral constant.

Parameters:

newKi - the new value for Ki

getKd

public double getKd()

Get the current value of the derivative constant.

Returns:

Kd as a double

setKd

public void setKd(float newKd)

Set a new value for the derivative constant.

Parameters:

newKd - the new value for Kd