ProfiledPingu

data class ProfiledPingu(var p: Double, var i: Double, var d: Double, var v: Double? = null, var s: Double? = null, var g: Double? = null, val profile: TrapezoidProfile.Constraints)

Data class representing a ProfiledPingu with PID controller parameters and profile constraints.

Constructors

constructor(p: Double, i: Double, d: Double, v: Double? = null, s: Double? = null, g: Double? = null, profile: TrapezoidProfile.Constraints)

Derivative gain.

Optional gravity feedforward term.

Integral gain.

Proportional gain.

val profile: TrapezoidProfile.Constraints

Constraints for the trapezoidal profile.

val profiledPIDController: ProfiledPIDController

Gets the ProfiledPIDController instance with the current PID parameters and profile constraints.

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(profiledPIDController: ProfiledPIDController)

Sets the PID parameters from the given ProfiledPIDController 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.