Package org.team1540.rooster.drive.pipeline

Class TurningRatePIDProcessor

java.lang.Object

org.team1540.rooster.drive.pipeline.PIDProcessor<TankDriveData,TankDriveData>

org.team1540.rooster.drive.pipeline.TurningRatePIDProcessor

All Implemented Interfaces:

Function<TankDriveData,TankDriveData>, Processor<TankDriveData,TankDriveData>

public class TurningRatePIDProcessor
extends PIDProcessor<TankDriveData,TankDriveData>

Modifies velocity set-points to keep a desired turning rate. This Processor accepts a TankDriveData and uses the turning rate as an input to the loop.

See Also:

Processor, PIDProcessor

Constructor Summary

Constructors

Constructor	Description
TurningRatePIDProcessor(@NotNull DoubleSupplier yawRateSupplier, double p, double i, double d, boolean invertSides)	Creates a new TurningRateClosedLoopProcessor.
TurningRatePIDProcessor(DoubleSupplier yawRateSupplier, double p)	Creates a new TurningRateClosedLoopProcessor with P and I D coefficients of 0 that does not invert sides.
TurningRatePIDProcessor(DoubleSupplier yawRateSupplier, double p, boolean invertSides)	Creates a new TurningRateClosedLoopProcessor with I and D coefficients of 0.
TurningRatePIDProcessor(DoubleSupplier yawRateSupplier, double p, double i)	Creates a new TurningRateClosedLoopProcessor with a D coefficient of 0 that does not invert sides.
TurningRatePIDProcessor(DoubleSupplier yawRateSupplier, double p, double i, boolean invertSides)	Creates a new TurningRateClosedLoopProcessor with a D coefficient of 0.
TurningRatePIDProcessor(DoubleSupplier yawRateSupplier, double p, double i, double d)	Creates a new TurningRateClosedLoopProcessor that does not invert sides.

Method Summary

Modifier and Type	Method	Description
protected TankDriveData	createOutput(TankDriveData data, double loopOutput)	Create the processor output.
protected double	getError(TankDriveData data)	Extract the PID loop target from the data passed to the processor, and calculate the current error.

Methods inherited from class org.team1540.rooster.drive.pipeline.PIDProcessor

apply, getError, getIAccum, reset

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

TurningRatePIDProcessor

public TurningRatePIDProcessor(DoubleSupplier yawRateSupplier,
                               double p)

Creates a new TurningRateClosedLoopProcessor with P and I D coefficients of 0 that does not invert sides.

Parameters:

yawRateSupplier - A DoubleSupplier that supplies the current yaw rate in radians per second.

p - The P coefficient of the PID loop.

TurningRatePIDProcessor

public TurningRatePIDProcessor(DoubleSupplier yawRateSupplier,
                               double p,
                               double i)

Creates a new TurningRateClosedLoopProcessor with a D coefficient of 0 that does not invert sides.

Parameters:

yawRateSupplier - A DoubleSupplier that supplies the current yaw rate in radians per second.

p - The P coefficient of the PID loop.

i - The I coefficient of the PID loop.

TurningRatePIDProcessor

public TurningRatePIDProcessor(DoubleSupplier yawRateSupplier,
                               double p,
                               double i,
                               double d)

Creates a new TurningRateClosedLoopProcessor that does not invert sides.

Parameters:

yawRateSupplier - A DoubleSupplier that supplies the current yaw rate in radians per second.

p - The P coefficient of the PID loop.

i - The I coefficient of the PID loop.

d - The D coefficient of the PID loop.

TurningRatePIDProcessor

public TurningRatePIDProcessor(DoubleSupplier yawRateSupplier,
                               double p,
                               boolean invertSides)

Creates a new TurningRateClosedLoopProcessor with I and D coefficients of 0.

Parameters:

yawRateSupplier - A DoubleSupplier that supplies the current yaw rate in radians per second.

p - The P coefficient of the PID loop.

invertSides - Whether to invert the output of the PID loop before sending it onwards.

TurningRatePIDProcessor

public TurningRatePIDProcessor(DoubleSupplier yawRateSupplier,
                               double p,
                               double i,
                               boolean invertSides)

Creates a new TurningRateClosedLoopProcessor with a D coefficient of 0.

Parameters:

yawRateSupplier - A DoubleSupplier that supplies the current yaw rate in radians per second.

p - The P coefficient of the PID loop.

i - The I coefficient of the PID loop.

invertSides - Whether to invert the output of the PID loop before sending it onwards.

TurningRatePIDProcessor

public TurningRatePIDProcessor(@NotNull
                               @NotNull DoubleSupplier yawRateSupplier,
                               double p,
                               double i,
                               double d,
                               boolean invertSides)

Creates a new TurningRateClosedLoopProcessor.

Parameters:

yawRateSupplier - A DoubleSupplier that supplies the current yaw rate in radians per second.

p - The P coefficient of the PID loop.

i - The I coefficient of the PID loop.

d - The D coefficient of the PID loop.

invertSides - Whether to invert the output of the PID loop before sending it onwards.

Method Detail

getError

protected double getError(TankDriveData data)

Description copied from class: PIDProcessor

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

Specified by:

getError in class PIDProcessor<TankDriveData,TankDriveData>

Parameters:

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

Returns:

The error.

createOutput

protected TankDriveData createOutput(TankDriveData data,
                                     double loopOutput)

Description copied from class: PIDProcessor

Create the processor output.

Specified by:

createOutput in class PIDProcessor<TankDriveData,TankDriveData>

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.