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

Fields inherited from class javaclient2.extra.Controller

currE, eSum, goal, lastE

Constructor Summary

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

Method Summary

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

Proportional constant

ki

protected double ki

Integral constant

kd

protected double kd

Derivative constant

Constructor Detail

PIDController

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

Constructor for PIDController.

Parameters:

Kp - the proportional constant

Ki - the integral constant

Kd - the derivative constant

Method Detail

getCommand

public double getCommand(double 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 double getKp()

Get the current value of the proportional constant.

Returns:

Kp as a double

setKp

public void setKp(double newKp)

Set a new value for the proportional constant.

Parameters:

newKp - the new value for Kp

getKi

public double getKi()

Get the current value of the integral constant.

Returns:

Ki as a double

setKi

public void setKi(double 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(double newKd)

Set a new value for the derivative constant.

Parameters:

newKd - the new value for Kd