Malefix/xyz.malefic.frc.pingu.control/NetworkPingu

NetworkPingu

class NetworkPingu(var p: LoggedNetworkNumber, var i: LoggedNetworkNumber, var d: LoggedNetworkNumber, var v: LoggedNetworkNumber? = null, var s: LoggedNetworkNumber? = null, var g: LoggedNetworkNumber? = null) : PIDController

A class that represents a PID controller with network logging capabilities.

Throws

NullPointerException

if v, s, or g are not set and are then accessed.

Constructors

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

Properties

accumulatedError

open val accumulatedError: Double

open var d: Double

var d: LoggedNetworkNumber

The derivative gain as a LoggedNetworkNumber.

open val error: Double

errorDerivative

open val errorDerivative: Double

errorDerivativeTolerance

open val errorDerivativeTolerance: Double

open val errorTolerance: Double

var g: LoggedNetworkNumber?

The gravity gain as a LoggedNetworkNumber.

open var i: Double

var i: LoggedNetworkNumber

The integral gain as a LoggedNetworkNumber.

isContinuousInputEnabled

open val isContinuousInputEnabled: Boolean

open var iZone: Double

open var p: Double

var p: LoggedNetworkNumber

The proportional gain as a LoggedNetworkNumber.

open val period: Double

val pingu: Pingu

The underlying Pingu instance using the current gains.

open val positionError: Double

positionTolerance

open val positionTolerance: Double

var s: LoggedNetworkNumber?

The static gain as a LoggedNetworkNumber.

open var setpoint: Double

var v: LoggedNetworkNumber?

The velocity gain as a LoggedNetworkNumber.

open val velocityError: Double

velocityTolerance

open val velocityTolerance: Double

Functions

open fun atSetpoint(): Boolean

open fun calculate(measurement: Double): Double

open fun calculate(measurement: Double, setpoint: Double): Double

open fun close()

disableContinuousInput

open fun disableContinuousInput()

enableContinuousInput

open fun enableContinuousInput(minimumInput: Double, maximumInput: Double)

open fun initSendable(builder: SendableBuilder?)

open fun reset()

setIntegratorRange

open fun setIntegratorRange(minimumIntegral: Double, maximumIntegral: Double)

open fun setPID(kp: Double, ki: Double, kd: Double)

open fun setTolerance(errorTolerance: Double)

open fun setTolerance(errorTolerance: Double, errorDerivativeTolerance: Double)