PedroPathing/com.pedropathing.util/FilteredPIDFController

FilteredPIDFController

public class FilteredPIDFController

This is the FilteredPIDFController class. This class handles the running of filtered filtered PIDFs. This behaves very similarly to a regular filtered PIDF controller, but the derivative portion is filtered with a low pass filter to reduce high frequency noise that could affect results.

Author

Anyi Lin - 10158 Scott's Bots

Constructors

FilteredPIDFController

public void FilteredPIDFController(CustomFilteredPIDFCoefficients set)

This creates a new filtered PIDFController from a CustomPIDFCoefficients.

Properties

public CustomFilteredPIDFCoefficients coefficients

public double error

public double targetPosition

Functions

public double D()

This returns the derivative (D) coefficient of the filtered PIDF.

public double F()

This returns the feedforward (F) constant of the filtered PIDF.

getCoefficients

public CustomFilteredPIDFCoefficients getCoefficients()

This returns the filtered PIDF's current coefficients.

public double getError()

This returns the current error of the filtered PIDF.

getTargetPosition

public double getTargetPosition()

This returns the target position of the filtered PIDF.

public double I()

This returns the integral (I) coefficient of the filtered PIDF.

public double P()

This returns the proportional (P) coefficient of the filtered PIDF.

public void reset()

This resets all the filtered PIDF's error and position values, as well as the time stamps.

public double runPIDF()

This takes the current error and runs the filtered PIDF on it.

setCoefficients

public void setCoefficients(CustomFilteredPIDFCoefficients set)

This is used to set the coefficients of the filtered PIDF.

public void setD(double set)

This sets the derivative (D) coefficient of the filtered PIDF only.

public void setF(double set)

This sets the feedforward (F) constant of the filtered PIDF only.

public void setI(double set)

This sets the integral (I) coefficient of the filtered PIDF only.

public void setP(double set)

This sets the proportional (P) coefficient of the filtered PIDF only.

public void setT(double set)

This sets the time constant (T) of the filtered PIDF only.

setTargetPosition

public void setTargetPosition(double set)

This is used to set the target position if the filtered PIDF is being run with current position and target position inputs rather than error inputs.

public double T()

This returns the time constant (T) of the filtered PIDF.

public void updateError(double error)

As opposed to updating position against a target position, this just sets the error to some specified value.

updateFeedForwardInput

public void updateFeedForwardInput(double input)

This can be used to update the feedforward equation's input, if applicable.

public void updatePosition(double update)

This can be used to update the filtered PIDF's current position when inputting a current position and a target position to calculate error.