Package org.team1540.rooster.drive.pipeline

Class PIDProcessor<I,O>

java.lang.Object

org.team1540.rooster.drive.pipeline.PIDProcessor<I,O>

Type Parameters:

I - The input type of the processor.

O - The output type of the processor.

All Implemented Interfaces:

Function<I,O>, Processor<I,O>

Direct Known Subclasses:

HeadingPIDProcessor, TurningRatePIDProcessor

public abstract class PIDProcessor<I,O>
extends Object
implements Processor<I,O>

Processor to execute a generic PID loop.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PIDProcessor(double p, double i, double d)	Create a new PIDProcessor.

Method Summary

Modifier and Type	Method	Description
O	apply(I input)
protected abstract O	createOutput(I data, double loopOutput)	Create the processor output.
double	getError()	Gets the closed-loop error from the last run of the PID loop.
protected abstract double	getError(I data)	Extract the PID loop target from the data passed to the processor, and calculate the current error.
double	getIAccum()	Gets the current value of the integral accumulator.
void	reset()	Resets the PID loop.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface java.util.function.Function

andThen, compose

Methods inherited from interface org.team1540.rooster.functional.Processor

followedBy, process

Constructor Detail

PIDProcessor

protected PIDProcessor(double p,
                       double i,
                       double d)

Create a new PIDProcessor.

Parameters:

p - The P coefficient.

i - The I coefficient.

d - The D coefficient.

Method Detail

getError

protected abstract double getError(I data)

Extract the PID loop target from the data passed to the processor, and calculate the current error.

Parameters:

data - The data instance that was passed to the processor's apply() method.

Returns:

The error.

createOutput

protected abstract O createOutput(I data,
                                  double loopOutput)

Create the processor output.

Parameters:

data - The data instance that was passed to the processor's apply() method.

loopOutput - The output of the PID loop

Returns:

The processor's output; this will be returned from the the processor's apply() method.

apply

public O apply(I input)

Specified by:

apply in interface Function<I,O>

getIAccum

public double getIAccum()

Gets the current value of the integral accumulator.

Returns:

The integral accumulator. If the PID loop has not yet been run (i.e. apply() has not yet been called since instantiation/the last call to reset()), returns 0.

getError

public double getError()

Gets the closed-loop error from the last run of the PID loop.

Returns:

The closed-loop error. If the PID loop has not yet been run (i.e. apply() has not yet been called since instantiation/the last call to reset()), returns 0.

reset

public void reset()

Resets the PID loop. This clears the integral accumulator and error values, and should be called if the TurningRateClosedLoopProcessor is being reused for multiple discrete occasions (i.e. executions of different motion profile segments). Calling this is functionally equivalent to creating a new processor instance.