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

ProfiledPingu

data class ProfiledPingu(var p: Double, var i: Double, var d: Double, var v: Double = 0.0, var s: Double = 0.0, var g: Double = 0.0, val profile: TrapezoidProfile.Constraints)

Data class representing a ProfiledPingu with PID controller parameters and TrapezoidProfile.Constraints for motion profiling.

Constructors

ProfiledPingu

constructor(p: Double, i: Double, d: Double, v: Double = 0.0, s: Double = 0.0, g: Double = 0.0, profile: TrapezoidProfile.Constraints)

Properties

var d: Double

Derivative gain.

var g: Double

Optional gravity feedforward term.

var i: Double

Integral gain.

var p: Double

Proportional gain.

pingu

val pingu: Pingu

Gets a Pingu instance with the current PID and feedforward parameters.

profile

val profile: TrapezoidProfile.Constraints

Constraints for the TrapezoidProfile.

profiledPIDController

val profiledPIDController: ProfiledPIDController

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

var s: Double

Optional static feedforward term.

var v: Double

Optional velocity feedforward term.

Functions

setD

fun setD(d: LoggedNetworkNumber)

Sets the derivative gain from a LoggedNetworkNumber.

setG

fun setG(g: LoggedNetworkNumber)

Sets the gravity feedforward term from a LoggedNetworkNumber.

setI

fun setI(i: LoggedNetworkNumber)

Sets the integral gain from a LoggedNetworkNumber.

setP

fun setP(p: LoggedNetworkNumber)

Sets the proportional gain from a LoggedNetworkNumber.

setPID

fun setPID(profiledPIDController: ProfiledPIDController)

Sets the PID parameters from the given ProfiledPIDController instance.

setS

fun setS(s: LoggedNetworkNumber)

Sets the static feedforward term from a LoggedNetworkNumber.

setV

fun setV(v: LoggedNetworkNumber)

Sets the velocity feedforward term from a LoggedNetworkNumber.