Package yams.math

Class LQRController

java.lang.Object

yams.math.LQRController

public class LQRController
extends Object

Linear Quadratic Regulator (Regulator is a type of controller)

Constructor Summary

Constructors

Constructor	Description
LQRController(LQRConfig config)	Create a LQR Controller.
LQRController(LQRConfig.LQRType type, LinearSystemLoop<?,?,?> loop, Time period)	Create a LQR Controller.

Method Summary

Modifier and Type	Method	Description
Voltage	calculate(Angle measured, Angle position, AngularVelocity velocity)	Calculate the voltage for an Arm LQR
Voltage	calculate(AngularVelocity measured, AngularVelocity velocity)	Calculate the voltage for a Flywheel LQR
Voltage	calculate(Distance measured, Distance position, LinearVelocity velocity)	Calculate the voltage for a Elevator LQR
Voltage	calculate(LinearVelocity measured, LinearVelocity velocity)	Calculate the voltage for a Flywheel LQR
Optional<LQRConfig>	getConfig()	Get the LQRConfig for the LQR.
LQRConfig.LQRType	getType()	Get the type of LQR.
void	reset(Angle angle, AngularVelocity velocity)	Reset the Arm or Flywheel LQR.
void	reset(Distance distance, LinearVelocity velocity)	Reset the Elevator LQR.
void	updateConfig(LQRConfig config)	Update LQR based off config.

Methods inherited from class java.lang.Object

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

Constructor Details

LQRController

public LQRController(LQRConfig.LQRType type,
 LinearSystemLoop<?,?,?> loop,
 Time period)

Create a LQR Controller.

Parameters:

type - LQR Type.

loop - LinearSystemLoop which can be derived from LQRConfig

period - Loop time.

LQRController

public LQRController(LQRConfig config)

Create a LQR Controller.

Parameters:

config - LQRConfig to create the controller from.

Method Details

updateConfig

public void updateConfig(LQRConfig config)

Update LQR based off config.

Parameters:

config - LQRConfig

reset

public void reset(Angle angle,
 AngularVelocity velocity)

Reset the Arm or Flywheel LQR.

Parameters:

angle - Current angle.

velocity - Current velocity.

reset

public void reset(Distance distance,
 LinearVelocity velocity)

Reset the Elevator LQR.

Parameters:

distance - Current distance.

velocity - Current velocity.

calculate

public Voltage calculate(Angle measured,
 Angle position,
 AngularVelocity velocity)

Calculate the voltage for an Arm LQR

Parameters:

measured - Measured angle from the arm.

position - Angle setpoint to go to.

velocity - AngularVelocity setpoint to go to.

Returns:

Voltage to apply to the arm.

calculate

public Voltage calculate(Distance measured,
 Distance position,
 LinearVelocity velocity)

Calculate the voltage for a Elevator LQR

Parameters:

measured - Measured distance of the elevator.

position - Setpoint distance of the elevator from the motion profile.

velocity - Setpoint velocity of the elevator from the motion profile.

Returns:

Voltage to apply to the elevator.

calculate

public Voltage calculate(AngularVelocity measured,
 AngularVelocity velocity)

Calculate the voltage for a Flywheel LQR

Parameters:

measured - Measured velocity of the flywheel.

velocity - Setpoint velocity of the flywheel.

Returns:

Voltage to apply to the flywheel.

calculate

public Voltage calculate(LinearVelocity measured,
 LinearVelocity velocity)

Calculate the voltage for a Flywheel LQR

Parameters:

measured - Measured velocity of the flywheel.

velocity - Setpoint velocity of the flywheel.

Returns:

Voltage to apply to the flywheel.

getType

public LQRConfig.LQRType getType()

Get the type of LQR.

Returns:

LQRConfig.LQRType

getConfig

public Optional<LQRConfig> getConfig()

Get the LQRConfig for the LQR.

Returns:

LQRConfig