Package io.github.frc5024.common_drive.controller

Class PIFController

  • All Implemented Interfaces:
    BaseController
    @Deprecated(since="October 2020",
            forRemoval=true)
public class PIFController
extends java.lang.Object
implements BaseController
    Deprecated, for removal: This API element is subject to removal in a future version.
    A PIFController is a simple PI + FeedForward calculation.
    This is helpful for calculating steering gains

    • Constructor Summary

      Constructors 
      Constructor Description
      PIFController​(PIFGains gains, boolean signedFF)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Create a PIFController

    • Method Summary

      All Methods Instance Methods Concrete Methods Deprecated Methods 
      Modifier and Type Method Description
      double calculate​(double error, double dt)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Calculate the controller output with FeedForward
      double calculate​(double error, double dt, boolean enableFF)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Calculate the controller output
      void reset()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Reset the controller

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • PIFController

        public PIFController​(PIFGains gains,
                     boolean signedFF)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Create a PIFController
        Parameters:
        gains - PIF gains
        signedFF - Should FF be inverted if the output is negative?

    • Method Detail

      • calculate

        public double calculate​(double error,
                        double dt)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Calculate the controller output with FeedForward
        Specified by:
        calculate in interface BaseController
        Parameters:
        error - System error
        dt - Delta time
        Returns:
        Output

      • calculate

        public double calculate​(double error,
                        double dt,
                        boolean enableFF)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Calculate the controller output
        Parameters:
        error - System error
        dt - Delta time
        enableFF - Set this to false to bypass the FeedForward calculation
        Returns:
        Output

      • reset

        public void reset()
        Deprecated, for removal: This API element is subject to removal in a future version.
        Reset the controller
        Specified by:
        reset in interface BaseController