com.first.team2052.lib

Class SynchronousPID

java.lang.Object

com.first.team2052.lib.SynchronousPID

public class SynchronousPID
extends java.lang.Object

Class implements a PID Control Loop.

Does all computation synchronously (i.e. the calculate() function must be called by the user from his own thread)

Constructor Summary

Constructors

Constructor and Description
SynchronousPID()
SynchronousPID(double Kp, double Ki, double Kd) Allocate a PID object with the given constants for P, I, D

Method Summary

Modifier and Type	Method and Description
double	calculate(double input) Read the input, calculate the output accordingly, and write to the output.
double	get() Return the current PID result This is always centered on zero and constrained the the max and min outs
double	getD() Get the Differential coefficient
double	getError() Returns the current difference of the input from the setpoint
double	getI() Get the Integral coefficient
double	getP() Get the Proportional coefficient
double	getSetpoint() Returns the current setpoint of the PID controller
java.lang.String	getState()
java.lang.String	getType()
boolean	onTarget(double tolerance) Return true if the error is within the tolerance
void	reset() Reset all internal terms.
void	resetIntegrator()
void	setContinuous() Set the PID controller to consider the input to be continuous, Rather then using the max and min in as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.
void	setContinuous(boolean continuous) Set the PID controller to consider the input to be continuous, Rather then using the max and min in as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.
void	setInputRange(double minimumInput, double maximumInput) Sets the maximum and minimum values expected from the input.
void	setOutputRange(double minimumOutput, double maximumOutput) Sets the minimum and maximum values to write.
void	setPID(double p, double i, double d) Set the PID controller gain parameters.
void	setSetpoint(double setpoint) Set the setpoint for the PID controller

Methods inherited from class java.lang.Object

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

Constructor Detail

SynchronousPID

public SynchronousPID()

SynchronousPID

public SynchronousPID(double Kp,
                      double Ki,
                      double Kd)

Allocate a PID object with the given constants for P, I, D

Parameters:

Kp - the proportional coefficient

Ki - the integral coefficient

Kd - the derivative coefficient

Method Detail

calculate

public double calculate(double input)

Read the input, calculate the output accordingly, and write to the output. This should be called at a constant rate by the user (ex. in a timed thread)

Parameters:

input - the input

setPID

public void setPID(double p,
                   double i,
                   double d)

Set the PID controller gain parameters. Set the proportional, integral, and differential coefficients.

Parameters:

p - Proportional coefficient

i - Integral coefficient

d - Differential coefficient

getP

public double getP()

Get the Proportional coefficient

Returns:

proportional coefficient

getI

public double getI()

Get the Integral coefficient

Returns:

integral coefficient

getD

public double getD()

Get the Differential coefficient

Returns:

differential coefficient

get

public double get()

Return the current PID result This is always centered on zero and constrained the the max and min outs

Returns:

the latest calculated output

setContinuous

public void setContinuous(boolean continuous)

Set the PID controller to consider the input to be continuous, Rather then using the max and min in as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

Parameters:

continuous - Set to true turns on continuous, false turns off continuous

setContinuous

public void setContinuous()

Set the PID controller to consider the input to be continuous, Rather then using the max and min in as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

setInputRange

public void setInputRange(double minimumInput,
                          double maximumInput)

Sets the maximum and minimum values expected from the input.

Parameters:

minimumInput - the minimum value expected from the input

maximumInput - the maximum value expected from the output

setOutputRange

public void setOutputRange(double minimumOutput,
                           double maximumOutput)

Sets the minimum and maximum values to write.

Parameters:

minimumOutput - the minimum value to write to the output

maximumOutput - the maximum value to write to the output

setSetpoint

public void setSetpoint(double setpoint)

Set the setpoint for the PID controller

Parameters:

setpoint - the desired setpoint

getSetpoint

public double getSetpoint()

Returns the current setpoint of the PID controller

Returns:

the current setpoint

getError

public double getError()

Returns the current difference of the input from the setpoint

Returns:

the current error

onTarget

public boolean onTarget(double tolerance)

Return true if the error is within the tolerance

Returns:

true if the error is less than the tolerance

reset

public void reset()

Reset all internal terms.

resetIntegrator

public void resetIntegrator()

getState

public java.lang.String getState()

getType

public java.lang.String getType()