org.usfirst.frc.team1736.lib.CasserolePID

Class AdvancedCasserolePID

java.lang.Object

org.usfirst.frc.team1736.lib.CasserolePID.CasserolePID

org.usfirst.frc.team1736.lib.CasserolePID.AdvancedCasserolePID

public abstract class AdvancedCasserolePID
extends CasserolePID

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	AdvancedCasserolePID.GainScheduleTypes Supported types of Gain Scheduling

Field Summary

Fields inherited from class org.usfirst.frc.team1736.lib.CasserolePID.CasserolePID

curError, integratorDisableThresh, invertActual, invertOutput, Kd, Kdf, Kf, Ki, Kp, Kp2, outputMax, outputMin, setpoint, threadName, useErrForDerivTerm, watchdogCounter

Method Summary

Modifier and Type	Method and Description
void	addDScheduleVal(double scheduler_var_value, double gain) Add a new point to the Derivative Gain Scheduler.
void	addIScheduleVal(double scheduler_var_value, double gain) Add a new point to the Integral Gain Scheduler.
void	addPScheduleVal(double scheduler_var_value, double gain) Add a new point to the Proportional Gain Scheduler.
protected void	periodicUpdate()
void	setGainSchedulerVal(double val_in) Set the gain scheduler variable value.

Methods inherited from class org.usfirst.frc.team1736.lib.CasserolePID.CasserolePID

getCurError, getKd, getKdf, getKf, getKi, getKp, getKp2, getSetpoint, resetIntegrators, returnPIDInput, setActualAsDerivTermSrc, setErrorAsDerivTermSrc, setintegratorDisableThresh, setKd, setKdf, setKf, setKi, setKp, setKp2, setOutputInverted, setOutputRange, setSensorInverted, setSetpoint, start, stop, usePIDOutput

Methods inherited from class java.lang.Object

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

Method Detail

addPScheduleVal

public void addPScheduleVal(double scheduler_var_value,
                            double gain)

Add a new point to the Proportional Gain Scheduler. Will utilize a variable P gain depending on the present value of the scheduler variable. The scheduler variable is defined by the setting given to this class's constructor. Currently, scheduling gains based on Setpoint, Error, or some external value is supported.

Parameters:

scheduler_var_value - scheduler variable value at which to define a gain

gain - Gain value to use when the scheduler variable.

addIScheduleVal

public void addIScheduleVal(double scheduler_var_value,
                            double gain)

Add a new point to the Integral Gain Scheduler. Will utilize a variable I gain depending on the present value of the scheduler variable. The scheduler variable is defined by the setting given to this class's constructor. Currently, scheduling gains based on Setpoint, Error, or some external value is supported.

Parameters:

scheduler_var_value - scheduler variable value at which to define a gain

gain - Gain value to use when the scheduler variable.

addDScheduleVal

public void addDScheduleVal(double scheduler_var_value,
                            double gain)

Add a new point to the Derivative Gain Scheduler. Will utilize a variable D gain depending on the present value of the scheduler variable. The scheduler variable is defined by the setting given to this class's constructor. Currently, scheduling gains based on Setpoint, Error, or some external value is supported.

Parameters:

scheduler_var_value - scheduler variable value at which to define a gain

gain - Gain value to use when the scheduler variable.

setGainSchedulerVal

public void setGainSchedulerVal(double val_in)

Set the gain scheduler variable value. Only useful if Gain Scheduling is being used, and it is set to the "External" type.

Parameters:

val_in -

periodicUpdate

protected void periodicUpdate()

Overrides:

periodicUpdate in class CasserolePID