Package ca.team3161.lib.robot.pid

Class PIDulum<V extends PIDAngleValueSrc<?>>

java.lang.Object

ca.team3161.lib.robot.pid.AbstractPID<V,java.lang.Float>

ca.team3161.lib.robot.pid.PIDulum<V>

Type Parameters:

V - the specific source type which provides angle measurements for this PIDulum.

All Implemented Interfaces:

PID<V,java.lang.Float>, ComposedComponent<PIDSrc<V,java.lang.Float>>

public final class PIDulum<V extends PIDAngleValueSrc<?>>
extends AbstractPID<V,java.lang.Float>
implements ComposedComponent<PIDSrc<V,java.lang.Float>>

A PID controller for inverted pendulum systems (PID pendulum... getPIDValue it?)

Field Summary

Fields inherited from class ca.team3161.lib.robot.pid.AbstractPID

deadband, deadbandPeriod, deadbandUnit, deltaError, integralError, kD, kI, kP, lastTimeNotAtTarget, prevError, source

Constructor Summary

Constructors

Constructor	Description
PIDulum(PIDSrc<V,java.lang.Float> source, float deadband, int deadbandPeriod, java.util.concurrent.TimeUnit deadbandUnit, float kP, float kI, float kD, float offsetAngle, float torqueConstant)

Method Summary

Modifier and Type	Method	Description
java.util.Collection<PIDSrc<V,java.lang.Float>>	getComposedComponents()	Get the composed components within this one.
java.lang.Float	pid(java.lang.Float target)	Iterate the PID loop.

Methods inherited from class ca.team3161.lib.robot.pid.AbstractPID

atTarget, clear, getkD, getkI, getkP, getSrc, setkD, setkI, setkP

Methods inherited from class java.lang.Object

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

Constructor Detail

PIDulum

public PIDulum(PIDSrc<V,java.lang.Float> source,
               float deadband,
               int deadbandPeriod,
               java.util.concurrent.TimeUnit deadbandUnit,
               float kP,
               float kI,
               float kD,
               float offsetAngle,
               float torqueConstant)

Parameters:

source - the PIDSrc source sensor

deadband - filter value - do not act when current error is within this bound

deadbandPeriod - the amount of time to remain within acceptable error of the target value before claiming to actually be at the target

deadbandUnit - the units for deadbandPeriod

kP - P constant

kI - I constant

kD - D constant

offsetAngle - the balance point of the inverted pendulum

torqueConstant - "feed forward" term constant to allow the pendulum to hold position against gravity

Method Detail

pid

public java.lang.Float pid(java.lang.Float target)

Iterate the PID loop.

Specified by:

pid in interface PID<V extends PIDAngleValueSrc<?>,java.lang.Float>

Specified by:

pid in class AbstractPID<V extends PIDAngleValueSrc<?>,java.lang.Float>

Parameters:

target - the desired target value. Units depend on the context of this PID

Returns:

the output value to set to eg a SpeedController to reach the specified target

getComposedComponents

public java.util.Collection<PIDSrc<V,java.lang.Float>> getComposedComponents()

Get the composed components within this one.

Specified by:

getComposedComponents in interface ComposedComponent<V extends PIDAngleValueSrc<?>>

Returns:

the composed components.