javaclient2.extra
Class Controller

java.lang.Object
  javaclient2.extra.Controller

Direct Known Subclasses:

PController, PDController, PIController, PIDController

public abstract class Controller
extends java.lang.Object

Abstract controller implementation. Used as a starting point for P, PI, PD, PID controllers.

Author:

Radu Bogdan Rusu

Field Summary

protected double	currE current error
protected double	eSum the sum of all errors so far
protected double	goal set the controller's goal
protected double	lastE last error

Constructor Summary

Controller()

Method Summary

protected double	deltaE() Get the difference between the current error and the last error.
void	setGoal(double newGoal) Set a new goal for the controller.

Methods inherited from class java.lang.Object

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

Field Detail

goal

protected double goal

set the controller's goal

eSum

protected double eSum

the sum of all errors so far

currE

protected double currE

current error

lastE

protected double lastE

last error

Constructor Detail

Controller

public Controller()

Method Detail

setGoal

public void setGoal(double newGoal)

Set a new goal for the controller.

Parameters:

newGoal - the new goal for the controller

deltaE

protected double deltaE()

Get the difference between the current error and the last error.

Returns:

the difference between the current error and the last error