Pingu

data class Pingu(var p: Double = 0.0, var i: Double = 0.0, var d: Double = 0.0, var v: Double = 0.0, var s: Double = 0.0, var g: Double = 0.0)

Data class representing a Pingu with PID controller parameters.

Note: PID gains (p, i, d) are unitless/dimensionless. Feedforward terms depend on the controlled variable:

Constructors

constructor(p: Double = 0.0, i: Double = 0.0, d: Double = 0.0, v: Double = 0.0, s: Double = 0.0, g: Double = 0.0)

Derivative gain (unitless).

Gravity feedforward term (volts).

Integral gain (unitless).

Proportional gain (unitless).

val pidController: PIDController

Gets the PIDController instance with the current PID parameters.

Static feedforward term (volts).

Velocity feedforward term (units depend on system - see class docs).

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.