java.lang.Object
- org.wildstang.framework.pid.controller.PidController

Direct Known Subclasses:

SpeedPidController
```
public class PidController
extends java.lang.Object
```
Controller for PID motor control.

Constructor Summary

Constructors
Constructor	Description
`PidController(IPidInput source, IPidOutput output, java.lang.String pidControllerName)`	Constructs and initialized controller values.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`protected double`	`calcDerivativeTerm()`	Calculates the derivative term D based off errors.
`void`	`calcPid()`	Calculate PID.
`void`	`disable()`	Resets and put the controller in the disabled state.
`void`	`enable()`	Puts the controller in the enabled state only if in the disabled state.
`double`	`getCurrentOutput()`	Returns the current output value.
`double`	`getD()`	Returns the D term.
`double`	`getDifferentiatorBandLimit()`	Returns the differentiator band limit.
`double`	`getEpsilon()`	Returns epsilon.
`double`	`getError()`	Returns the current error value.
`double`	`getI()`	Returns the I term.
`double`	`getIntegralErrorThresh()`	Returns the integral error threshold.
`java.lang.String`	`getName()`	Returns the name of the controller.
`double`	`getP()`	Returns the P term.
`double`	`getPreviousError()`	Returns the previous error value.
`double`	`getSetPoint()`	Returns the set point value.
`PidStateType`	`getState()`	Returns the current state of the controller
`double`	`getStaticEpsilon()`	Returns static epsilon.
`boolean`	`isEnabled()`	Returns true if the controller is in the enabled state.
`boolean`	`isOnTarget()`	Returns true if the controller is in the target or stabilized state.
`boolean`	`isStabilized()`	Returns true if the controller is in the stabilized state.
`void`	`notifyConfigChange()`	Notifys the controller of a config change.
`void`	`reset()`	Resets all error values in controller.
`void`	`resetErrorSum()`	Resets the error sum to 0.
`void`	`setConstants(double p, double i, double d)`	Set the 3 PID constants.
`void`	`setDifferentiatorBandLimit(double band_limit)`	Sets the differentiator band limit.
`void`	`setErrorEpsilon(double epsilon)`	Sets epsilon.
`void`	`setErrorIncrementPercentage(double inc)`	Sets error increment percentage.
`void`	`setIntegralErrorThresh(double thresh)`	Sets the integral error threshold.
`void`	`setMaxIntegral(double max)`	Sets the max integral.
`void`	`setMinMaxInput(double min, double max)`	Sets the min and max input.
`void`	`setMinMaxOutput(double min, double max)`	Sets the min and max output.
`void`	`setMinStabilizationTime(double time)`	Sets the min stabilization time.
`void`	`setOutputEnabled(boolean outputEnabled)`	Set output to enabled or disabled.
`void`	`setSetPoint(double set_point)`	Sets the set point.
`void`	`setStaticEpsilon(double epsilon)`	Sets static epsilon.
`java.lang.String`	`toString()`	Returns the name in combination with the PID state.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - PidController
```
public PidController(IPidInput source,
                     IPidOutput output,
                     java.lang.String pidControllerName)
```
    Constructs and initialized controller values.
    
    Parameters:
    
    source - IPidInput for PID control.
    
    output - IPidOutput for PID control.
    
    pidControllerName - Name of the controller.
- Method Detail
  - getP
```
public double getP()
```
    Returns the P term.
    
    Returns:
    
    The P (proportional) term.
  - getI
```
public double getI()
```
    Returns the I term.
    
    Returns:
    
    The I (integral) term.
  - getD
```
public double getD()
```
    Returns the D term.
    
    Returns:
    
    The D (derivative) term.
  - getEpsilon
```
public double getEpsilon()
```
    Returns epsilon.
    
    Returns:
    
    Epsilon, the allowable error in completion.
  - getStaticEpsilon
```
public double getStaticEpsilon()
```
    Returns static epsilon.
    
    Returns:
    
    Static epsilon, the allowable error in steady-state.
  - setConstants
```
public void setConstants(double p,
                         double i,
                         double d)
```
    Set the 3 PID constants.
    
    Parameters:
    
    p - Proportional - Proportional to the current value of the error.
    
    i - Integral - Accounts for past values of the error.
    
    d - Derivative - Best estimate of the future trend of the error.
  - setStaticEpsilon
```
public void setStaticEpsilon(double epsilon)
```
    Sets static epsilon.
    
    Parameters:
    
    epsilon - Static epsilon, the allowable error in steady-state.
  - setErrorEpsilon
```
public void setErrorEpsilon(double epsilon)
```
    Sets epsilon.
    
    Parameters:
    
    epsilon - Epsilon, the allowable error in completion.
  - setErrorIncrementPercentage
```
public void setErrorIncrementPercentage(double inc)
```
    Sets error increment percentage.
    
    Parameters:
    
    inc - Error increment percentage, the max error increment per call.
  - setMinMaxOutput
```
public void setMinMaxOutput(double min,
                            double max)
```
    Sets the min and max output.
    
    Parameters:
    
    min - Minimum output, floor on PID output.
    
    max - Maximum output, ceiling on PID output.
  - setMinMaxInput
```
public void setMinMaxInput(double min,
                           double max)
```
    Sets the min and max input.
    
    Parameters:
    
    min - Minimum input, floor on PID input.
    
    max - Maximum input, ceiling on PID input.
  - setMaxIntegral
```
public void setMaxIntegral(double max)
```
    Sets the max integral.
    
    Parameters:
    
    max - Max integral.
  - setIntegralErrorThresh
```
public void setIntegralErrorThresh(double thresh)
```
    Sets the integral error threshold.
    
    Parameters:
    
    thresh - Intergral error threshold.
  - getIntegralErrorThresh
```
public double getIntegralErrorThresh()
```
    Returns the integral error threshold.
    
    Returns:
    
    Intergral error threshold.
  - setMinStabilizationTime
```
public void setMinStabilizationTime(double time)
```
    Sets the min stabilization time.
    
    Parameters:
    
    time - New min stabilization time.
  - setSetPoint
```
public void setSetPoint(double set_point)
```
    Sets the set point.
    
    Parameters:
    
    set_point - The new set point.
  - getSetPoint
```
public double getSetPoint()
```
    Returns the set point value.
    
    Returns:
    
    The current set point value.
  - setDifferentiatorBandLimit
```
public void setDifferentiatorBandLimit(double band_limit)
```
    Sets the differentiator band limit.
    
    Parameters:
    
    band_limit - The new differentiator band limit.
  - getDifferentiatorBandLimit
```
public double getDifferentiatorBandLimit()
```
    Returns the differentiator band limit.
    
    Returns:
    
    The current differentiator band limit.
  - resetErrorSum
```
public void resetErrorSum()
```
    Resets the error sum to 0.
  - getCurrentOutput
```
public double getCurrentOutput()
```
    Returns the current output value.
    
    Returns:
    
    The current output.
  - setOutputEnabled
```
public void setOutputEnabled(boolean outputEnabled)
```
    Set output to enabled or disabled.
    
    Parameters:
    
    outputEnabled - True if set to enabled.
  - calcPid
```
public void calcPid()
```
    Calculate PID.
  - isOnTarget
```
public boolean isOnTarget()
```
    Returns true if the controller is in the target or stabilized state.
    
    Returns:
    
    True if the controller is target or stabilized.
  - isStabilized
```
public boolean isStabilized()
```
    Returns true if the controller is in the stabilized state.
    
    Returns:
    
    True if the controller is stabilized.
  - isEnabled
```
public boolean isEnabled()
```
    Returns true if the controller is in the enabled state.
    
    Returns:
    
    True if the controller is enabled.
  - enable
```
public void enable()
```
    Puts the controller in the enabled state only if in the disabled state.
  - disable
```
public void disable()
```
    Resets and put the controller in the disabled state.
  - reset
```
public void reset()
```
    Resets all error values in controller.
  - getError
```
public double getError()
```
    Returns the current error value.
    
    Returns:
    
    The current error value.
  - getPreviousError
```
public double getPreviousError()
```
    Returns the previous error value.
    
    Returns:
    
    The previous error value.
  - calcDerivativeTerm
```
protected double calcDerivativeTerm()
```
    Calculates the derivative term D based off errors.
    
    Returns:
    
    Estimated derivative term D.
  - getState
```
public PidStateType getState()
```
    Returns the current state of the controller
    
    Returns:
    
    Current state.
  - notifyConfigChange
```
public void notifyConfigChange()
```
    Notifys the controller of a config change. Controller then set values to config values.
  - getName
```
public java.lang.String getName()
```
    Returns the name of the controller.
    
    Returns:
    
    Controller name.
  - toString
```
public java.lang.String toString()
```
    Returns the name in combination with the PID state.
    
    Overrides:
    
    toString in class java.lang.Object
    
    Returns:
    
    Name and PID state.

Class PidController

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

PidController

Method Detail

getP

getI

getD

getEpsilon

getStaticEpsilon

setConstants

setStaticEpsilon

setErrorEpsilon

setErrorIncrementPercentage

setMinMaxOutput

setMinMaxInput

setMaxIntegral

setIntegralErrorThresh

getIntegralErrorThresh

setMinStabilizationTime

setSetPoint

getSetPoint

setDifferentiatorBandLimit

getDifferentiatorBandLimit

resetErrorSum

getCurrentOutput

setOutputEnabled

calcPid

isOnTarget

isStabilized

isEnabled

enable

disable

reset

getError

getPreviousError

calcDerivativeTerm

getState

notifyConfigChange

getName

toString