Package trclib.robotcore

Class TrcPidController.PidCtrlState

java.lang.Object
trclib.robotcore.TrcPidController.PidCtrlState
Enclosing class:
TrcPidController
private static class TrcPidController.PidCtrlState extends Object
This class stores the PID controller state.

  • Field Details

    • pidCoeffs

      TrcPidController.PidCoefficients pidCoeffs

    • settlingStartTime

      double settlingStartTime

    • setPoint

      double setPoint

    • setPointSign

      double setPointSign

    • currTime

      double currTime

    • deltaTime

      double deltaTime

    • input

      double input

    • currError

      double currError

    • errorRate

      double errorRate

    • totalError

      double totalError

    • pTerm

      double pTerm

    • iTerm

      double iTerm

    • dTerm

      double dTerm

    • fTerm

      double fTerm

    • output

      double output

    • stallDetectionDelay

      double stallDetectionDelay

    • stallDetectionTimeout

      double stallDetectionTimeout

    • stallErrorRateThreshold

      double stallErrorRateThreshold

    • stallDetectionStartTime

      Double stallDetectionStartTime

    • verbosePidInfo

      boolean verbosePidInfo

    • battery

      TrcRobotBattery battery

  • Constructor Details

    • PidCtrlState

      private PidCtrlState()

  • Method Details

    • reset

      void reset()
      This method resets the PID controller state.