Pingu

data class Pingu(var p: Double, var i: Double, var d: Double, var v: Double? = null, var s: Double? = null, var g: Double? = null)

Data class representing a Pingu with PID controller parameters.

Constructors

constructor(p: Double, i: Double, d: Double, v: Double? = null, s: Double? = null, g: Double? = null)

Derivative gain.

Optional gravity feedforward term.

Integral gain.

Proportional gain.

val pidController: PIDController

Gets the PIDController instance with the current PID parameters.

Optional static feedforward term.

Optional velocity feedforward term.

fun setD(d: LoggedNetworkNumber)

Sets the derivative gain from a LoggedNetworkNumber.

fun setG(g: LoggedNetworkNumber)

Sets the gravity feedforward term from a LoggedNetworkNumber.

fun setI(i: LoggedNetworkNumber)

Sets the integral gain from a LoggedNetworkNumber.

fun setP(p: LoggedNetworkNumber)

Sets the proportional gain from a LoggedNetworkNumber.

fun setPID(pidController: PIDController)

Sets the PID parameters from the given PIDController instance.

fun setS(s: LoggedNetworkNumber)

Sets the static feedforward term from a LoggedNetworkNumber.

fun setV(v: LoggedNetworkNumber)

Sets the velocity feedforward term from a LoggedNetworkNumber.