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.

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

For linear systems: velocities in meters/second, accelerations in meters/second²
For rotational systems: velocities in radians/second, accelerations in radians/second²

Constructors

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

Properties

Derivative gain (unitless).

Optional gravity feedforward term (volts).

Integral gain (unitless).

Proportional gain (unitless).

val pingu: Pingu

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

val profile: TrapezoidProfile.Constraints

Constraints for the TrapezoidProfile (velocity and acceleration units depend on system).

profiledPIDController

val profiledPIDController: ProfiledPIDController

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

Optional static feedforward term (volts).

Optional velocity feedforward term (units depend on system).

Functions

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.