Package yams.math

Class ExponentialProfilePIDController

java.lang.Object

yams.math.ExponentialProfilePIDController

public class ExponentialProfilePIDController
extends Object

Exponential profile PID controller. Similar to PIDController or ProfiledPIDController, but uses an ExponentialProfile

Constructor Summary

Constructors

Constructor	Description
ExponentialProfilePIDController(double kP, double kI, double kD, ExponentialProfile.Constraints constraints)	Constructor.
ExponentialProfilePIDController(PIDController controller, ExponentialProfile.Constraints constraints)	Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	atSetpoint()	Returns true if the error is within the tolerance of the setpoint.
double	calculate(double measurementPosition, double setpointPosition)	Calculate the feedback, assuming no setpoint velocity.
double	calculate(double measurementPosition, double setpointVelocity, double setpointPosition)	Calculate the feedback, assuming previous state velocity.
static ExponentialProfile.Constraints	createArmConstraints(Voltage maxVolts, DCMotor motor, Mass mass, Distance length, MechanismGearing gearing)	Get the ExponentialProfile.Constraints for an arm.
static ExponentialProfile.Constraints	createArmConstraints(Voltage maxVolts, DCMotor motor, MomentOfInertia moi, MechanismGearing gearing)	Get the ExponentialProfile.Constraints for an arm.
static ExponentialProfile.Constraints	createConstraints(Voltage maxVolts, AngularVelocity maxVelocity, AngularAcceleration maxAcceleration)	Create a generic constraints object.
static ExponentialProfile.Constraints	createElevatorConstraints(Voltage maxVolts, DCMotor motor, Mass mass, Distance drumRadius, MechanismGearing gearing)	Get the ExponentialProfile.Constraints for an elevator.
static ExponentialProfile.Constraints	createFlywheelConstraints(Voltage maxVolts, DCMotor motor, Mass mass, Distance radius, MechanismGearing gearing)	Get the ExponentialProfile.Constraints for a flywheel.
static ExponentialProfile.Constraints	createFlywheelConstraints(Voltage maxVolts, DCMotor motor, MomentOfInertia moi, MechanismGearing gearing)	Get the ExponentialProfile.Constraints for a flywheel.
void	enableContinuousInput(double minimumInput, double maximumInput)	Enables continuous input.
Optional<ExponentialProfile.Constraints>	getConstraints()	Get the constraints.
Angle	getCurrentAngle()	Get the current angle.
ExponentialProfile.State	getCurrentState()	Get the current state of the ExponentialProfile.
AngularVelocity	getCurrentVelocitySetpoint()	Get the current velocity from ExponentialProfile.
double	getD()	Get the Differential coefficient.
double	getI()	Get the Integral coefficient.
AngularAcceleration	getKa()	Get the acceleration gain kA
AngularVelocity	getKv()	Get the velocity gain as constant.
Angle	getNextAngle()	Get the next angle from the ExponentialProfile
Optional<ExponentialProfile.State>	getNextState()	Get the next state of the ExponentialProfile.
AngularVelocity	getNextVelocitySetpoint()	Get the next velocity from ExponentialProfile
double	getP()	Get the Proportional coefficient.
double	getPositionTolerance()	Returns the error tolerance of this controller.
double	getSetpoint()	Get the setpoint.
void	reset(double position, double velocity)	Reset the PID and profile with the given postion and velocity as the measured position and velocity.
void	reset(ExponentialProfile.State measurement)	Reset the controller, set the next setpoint to empty.
void	setConstraints(ExponentialProfile.Constraints constraints)	Sets the constraints for the ExponentialProfile.
void	setD(double kD)	Sets the Differential coefficient of the PID controller gain.
void	setI(double kI)	Sets the Integral coefficient of the PID controller gain.
void	setP(double kP)	Sets the Proportional coefficient of the PID controller gain.
void	setTolerance(double tolerance)	Sets the error which is considered tolerable for use with atSetpoint().

Methods inherited from class java.lang.Object

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

Constructor Details

ExponentialProfilePIDController

public ExponentialProfilePIDController(PIDController controller,
 ExponentialProfile.Constraints constraints)

Constructor.

Parameters:

controller - The wrapped PID controller.

constraints - The wrapped profile constraints.

ExponentialProfilePIDController

public ExponentialProfilePIDController(double kP,
 double kI,
 double kD,
 ExponentialProfile.Constraints constraints)

Constructor.

Parameters:

kP - kP value for the PIDController

kI - kI value for the PIDController

kD - kD value for the PIDController

constraints - ExponentialProfile.Constraints for the ExponentialProfile

Method Details

createElevatorConstraints

public static ExponentialProfile.Constraints createElevatorConstraints(Voltage maxVolts,
 DCMotor motor,
 Mass mass,
 Distance drumRadius,
 MechanismGearing gearing)

Get the ExponentialProfile.Constraints for an elevator.

Parameters:

maxVolts - Maximum input voltage for profile generation.

motor - DCMotor of the elevator.

mass - Mass of the elevator carriage.

drumRadius - Distance of the elevator drum radius.

gearing - MechanismGearing of the elevator from the drum to the rotor.

Returns:

ExponentialProfile.Constraints

createArmConstraints

public static ExponentialProfile.Constraints createArmConstraints(Voltage maxVolts,
 DCMotor motor,
 MomentOfInertia moi,
 MechanismGearing gearing)

Get the ExponentialProfile.Constraints for an arm.

Parameters:

maxVolts - Maximum input voltage for profile generation.

motor - DCMotor of the arm.

moi - MomentOfInertia of the arm.

gearing - MechanismGearing of the arm from the rotor to the drum. gearing.getMechanismToRotorRatio()

Returns:

ExponentialProfile.Constraints

createArmConstraints

public static ExponentialProfile.Constraints createArmConstraints(Voltage maxVolts,
 DCMotor motor,
 Mass mass,
 Distance length,
 MechanismGearing gearing)

Get the ExponentialProfile.Constraints for an arm.

Parameters:

maxVolts - Maximum input voltage for profile generation.

motor - DCMotor of the arm.

mass - Mass of the arm.

length - Distance of the arm length.

gearing - MechanismGearing of the arm from the rotor to the drum. gearing.getMechanismToRotorRatio()

Returns:

ExponentialProfile.Constraints

createFlywheelConstraints

public static ExponentialProfile.Constraints createFlywheelConstraints(Voltage maxVolts,
 DCMotor motor,
 MomentOfInertia moi,
 MechanismGearing gearing)

Get the ExponentialProfile.Constraints for a flywheel.

Parameters:

maxVolts - Maximum input voltage for profile generation.

motor - DCMotor of the flywheel.

moi - MomentOfInertia of the flywheel.

gearing - MechanismGearing of the flywheel from the rotor to the drum.

Returns:

ExponentialProfile.Constraints

createFlywheelConstraints

public static ExponentialProfile.Constraints createFlywheelConstraints(Voltage maxVolts,
 DCMotor motor,
 Mass mass,
 Distance radius,
 MechanismGearing gearing)

Get the ExponentialProfile.Constraints for a flywheel.

Parameters:

maxVolts - Maximum input voltage for profile generation.

motor - DCMotor of the flywheel.

mass - Mass of the flywheel.

radius - Distance of the flywheel radius.

gearing - MechanismGearing of the flywheel from the rotor to the drum.

Returns:

ExponentialProfile.Constraints

createConstraints

public static ExponentialProfile.Constraints createConstraints(Voltage maxVolts,
 AngularVelocity maxVelocity,
 AngularAcceleration maxAcceleration)

Create a generic constraints object.

Parameters:

maxVolts - Maximum input voltage for profile generation.

maxVelocity - Maximum velocity.

maxAcceleration - Maximum acceleration.

Returns:

ExponentialProfile.Constraints

getKv

public AngularVelocity getKv()

Get the velocity gain as constant.

Returns:

kV with (-A/B)

getKa

public AngularAcceleration getKa()

Get the acceleration gain kA

Returns:

kA interpreted as (1.0/B)

reset

public void reset(ExponentialProfile.State measurement)

Reset the controller, set the next setpoint to empty.

Parameters:

measurement - Measurement in Rotations, and Rotations per Second.

reset

public void reset(double position,
 double velocity)

Reset the PID and profile with the given postion and velocity as the measured position and velocity.

Parameters:

position - Measured position

velocity - Measured velocity.

getConstraints

public Optional<ExponentialProfile.Constraints> getConstraints()

Get the constraints.

Returns:

ExponentialProfile.Constraints

setConstraints

public void setConstraints(ExponentialProfile.Constraints constraints)

Sets the constraints for the ExponentialProfile.

Parameters:

constraints - The constraints for the ExponentialProfile.

setTolerance

public void setTolerance(double tolerance)

Sets the error which is considered tolerable for use with atSetpoint().

Parameters:

tolerance - – Error which is tolerable.

atSetpoint

public boolean atSetpoint()

Returns true if the error is within the tolerance of the setpoint. The error tolerance defaults to 0.05, and the error derivative tolerance defaults to ∞. This will return false until at least one input value has been computed.

Returns:

Whether the error is within the acceptable bounds

getSetpoint

public double getSetpoint()

Get the setpoint.

Returns:

setpoint.

getCurrentState

public ExponentialProfile.State getCurrentState()

Get the current state of the ExponentialProfile.

Returns:

ExponentialProfile.State given by the ExponentialProfile.

getCurrentAngle

public Angle getCurrentAngle()

Get the current angle.

Returns:

Angle from ExponentialProfile

getNextAngle

public Angle getNextAngle()

Get the next angle from the ExponentialProfile

Returns:

Angle from ExponentialProfile

getCurrentVelocitySetpoint

public AngularVelocity getCurrentVelocitySetpoint()

Get the current velocity from ExponentialProfile.

Returns:

AngularVelocity from ExponentialProfile

getNextVelocitySetpoint

public AngularVelocity getNextVelocitySetpoint()

Get the next velocity from ExponentialProfile

Returns:

Next AngularVelocity from ExponentialProfile

getNextState

public Optional<ExponentialProfile.State> getNextState()

Get the next state of the ExponentialProfile.

Returns:

ExponentialProfile.State given by the ExponentialProfile.

calculate

public double calculate(double measurementPosition,
 double setpointVelocity,
 double setpointPosition)

Calculate the feedback, assuming previous state velocity.

Parameters:

measurementPosition - Measurement position to set as the current state..

setpointVelocity - Setpoint velocity.

setpointPosition - Setpoint position.

Returns:

Profile calculation

calculate

public double calculate(double measurementPosition,
 double setpointPosition)

Calculate the feedback, assuming no setpoint velocity.

Parameters:

measurementPosition - Measurement position to set as the current state.

setpointPosition - Setpoint position.

Returns:

Profile calculation where setpoint velocity is 0.

getPositionTolerance

public double getPositionTolerance()

Returns the error tolerance of this controller. Defaults to 0.05.

Returns:

the error tolerance of the controlle

getP

public double getP()

Get the Proportional coefficient.

Returns:

proportional coefficient

setP

public void setP(double kP)

Sets the Proportional coefficient of the PID controller gain.

Parameters:

kP - The proportional coefficient. Must be >= 0.

getI

public double getI()

Get the Integral coefficient.

Returns:

integral coefficient

setI

public void setI(double kI)

Sets the Integral coefficient of the PID controller gain.

Parameters:

kI - The integral coefficient. Must be >= 0.

getD

public double getD()

Get the Differential coefficient.

Returns:

differential coefficient

setD

public void setD(double kD)

Sets the Differential coefficient of the PID controller gain.

Parameters:

kD - The differential coefficient. Must be >= 0.

enableContinuousInput

public void enableContinuousInput(double minimumInput,
 double maximumInput)

Enables continuous input.

Rather then using the max and min input range as constraints, it considers them to be the same point and automatically calculates the shortest route to the setpoint.

Parameters:

minimumInput - The minimum value expected from the input.

maximumInput - The maximum value expected from the input.