Package trclib.robotcore

Class TrcPidController.PidCoefficients

java.lang.Object
trclib.robotcore.TrcPidController.PidCoefficients
Enclosing class:
TrcPidController
public static class TrcPidController.PidCoefficients extends Object
This class encapsulates all the PID coefficients into a single object and makes it more efficient to pass them around.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    double
    iZone
     
    double
    kD
     
    double
    kF
     
    double
    kI
     
    double
    kP
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    PidCoefficients(double kP, double kI, double kD)
    Constructor: Create an instance of the object.
    PidCoefficients(double kP, double kI, double kD, double kF)
    Constructor: Create an instance of the object.
    PidCoefficients(double kP, double kI, double kD, double kF, double iZone)
    Constructor: Create an instance of the object.

  • Method Summary

    Modifier and Type
    Method
    Description
    TrcPidController.PidCoefficients
    clone()
    This method returns a copy of this object.
    String
    toString()
    This method returns all PID coefficients in string form.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • kP

      public double kP

    • kI

      public double kI

    • kD

      public double kD

    • kF

      public double kF

    • iZone

      public double iZone

  • Constructor Details

    • PidCoefficients

      public PidCoefficients(double kP, double kI, double kD, double kF, double iZone)
      Constructor: Create an instance of the object.
      Parameters:
      kP - specifies the Proportional constant.
      kI - specifies the Integral constant.
      kD - specifies the Differential constant.
      kF - specifies the Feed forward constant.
      iZone - specifies the integral zone.

    • PidCoefficients

      public PidCoefficients(double kP, double kI, double kD, double kF)
      Constructor: Create an instance of the object.
      Parameters:
      kP - specifies the Proportional constant.
      kI - specifies the Integral constant.
      kD - specifies the Differential constant.
      kF - specifies the Feed forward constant.

    • PidCoefficients

      public PidCoefficients(double kP, double kI, double kD)
      Constructor: Create an instance of the object.
      Parameters:
      kP - specifies the Proportional constant.
      kI - specifies the Integral constant.
      kD - specifies the Differential constant.

  • Method Details

    • toString

      public String toString()
      This method returns all PID coefficients in string form.
      Overrides:
      toString in class Object
      Returns:
      PID coefficients string.

    • clone

      public TrcPidController.PidCoefficients clone()
      This method returns a copy of this object.
      Overrides:
      clone in class Object
      Returns:
      a copy of this object.