Package org.wildstang.framework.pid.controller

Class SpeedPidController

java.lang.Object

org.wildstang.framework.pid.controller.PidController

org.wildstang.framework.pid.controller.SpeedPidController

public class SpeedPidController
extends PidController

Represents a PID controller for motor speed control.

Constructor Summary

Constructors

Constructor	Description
SpeedPidController(IPidInput source, IPidOutput output, java.lang.String pidControllerName)	Passes all parameters on to PidController().

Method Summary

Modifier and Type	Method	Description
protected double	calcDerivativeTerm()	Calculates the derivative term D based off errors.

Methods inherited from class org.wildstang.framework.pid.controller.PidController

calcPid, disable, enable, getCurrentOutput, getD, getDifferentiatorBandLimit, getEpsilon, getError, getI, getIntegralErrorThresh, getName, getP, getPreviousError, getSetPoint, getState, getStaticEpsilon, isEnabled, isOnTarget, isStabilized, notifyConfigChange, reset, resetErrorSum, setConstants, setDifferentiatorBandLimit, setErrorEpsilon, setErrorIncrementPercentage, setIntegralErrorThresh, setMaxIntegral, setMinMaxInput, setMinMaxOutput, setMinStabilizationTime, setOutputEnabled, setSetPoint, setStaticEpsilon, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

SpeedPidController

public SpeedPidController(IPidInput source,
                          IPidOutput output,
                          java.lang.String pidControllerName)

Passes all parameters on to PidController().

Parameters:

source - IPidInput for PID control.

output - IPidOutput for PID control.

pidControllerName - Name of the controller.

Method Detail

calcDerivativeTerm

protected double calcDerivativeTerm()

Calculates the derivative term D based off errors. Assumes target velocity == 0.

Overrides:

calcDerivativeTerm in class PidController

Returns:

Estimated derivative term D.