com.ridgesoft.robotics
Class PIDController

java.lang.Object
  com.ridgesoft.robotics.PIDController

All Implemented Interfaces:

Controller

public class PIDController
extends Object
implements Controller

Implements a Proportional-Integral-Differential (PID) controller.

This class implements a controller that, when passed a target value and the current sample of the controlled variable, calculates an output based on the PID control algorithm and the gain constants specified.

Constructor Summary

PIDController(float pGain, float iGain, float dGain, float iTermMax, boolean doErrorPrediction)
Constructs a PID controller

Method Summary

float	control(float target, float sample) Calculates the controller output given a target and current sample of the controlled variable.
void	setConstants(float pGain, float iGain, float dGain, float iTermMax) Sets the controller constants.

Methods inherited from class java.lang.Object

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

Constructor Detail

PIDController

public PIDController(float pGain,
                     float iGain,
                     float dGain,
                     float iTermMax,
                     boolean doErrorPrediction)

Constructs a PID controller

Parameters:

pGain - proportional gain

iGain - integral gain

dGain - differential gain

iTermMax - cap on the value of the integral term

doErrorPrediction - true if the controller should predict the integral term when the target changes

Method Detail

control

public float control(float target,
                     float sample)

Calculates the controller output given a target and current sample of the controlled variable.

Invoke this method at a regular interval to calculate updates to the controller output.

Specified by:

control in interface Controller

Parameters:

target - target value of the sampled quantity

sample - value of most recent sample

Returns:

controller ouput

setConstants

public void setConstants(float pGain,
                         float iGain,
                         float dGain,
                         float iTermMax)

Sets the controller constants.

Parameters:

pGain - proportional gain

iGain - integral gain

dGain - differential gain

iTermMax - cap on the value of the integral term