Changes between Version 4 and Version 5 of ControlSystems/SoftwareTeam/Training/GettingStarted/PIDControl

Timestamp:

Nov 12, 2019, 6:54:31 PM (6 years ago)

Author:

dosheroff

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/PIDControl

@@ -12 +12 @@
 * And much more. If you have an idea for a usage of PID loops, come see a mentor or software student leader!!
 
-Code examples are coming soon
+CODE EXAMPLES YAYYYYYYY
+{{{public class PID {
+    private double error, errorSum, actualPrev;
+    private double setpoint, output;
+    private double kP, kI, kD;
+    private Double tolerance;
+
+    public PID(double kP, double kI, double kD, Double tolerance){
+        this.kP = kP;
+        this.kI = kI;
+        this.kD = kD;
+        this.tolerance = tolerance == null ? null : Math.abs(tolerance);
+    }
+
+    public PID(double kP, double kI, double kD){
+        this(kP, kI, kD, null);
+    }
+
+    public void setSetpoint(double setpoint){
+        if(this.setpoint != setpoint){
+            this.setpoint = setpoint;
+            errorSum = 0;
+        }
+    }
+
+    public void update(double actual){
+        error = setpoint - actual;
+        final double actualChange = actual - actualPrev;
+        actualPrev = actual;
+
+        if(tolerance == null || !withinTolerance()){
+            errorSum += error;
+            output = kP*error + kI*errorSum - kD*actualChange;
+        } else {
+            errorSum = 0;
+            output = 0;
+        }
+
+    }
+
+    public void update(double actual, double feedForward){
+        update(actual);
+        output += feedForward;
+    }
+
+    public double getOutput(){
+        return output;
+    }
+
+    public boolean withinTolerance(){
+        return Math.abs(error) < tolerance;
+    }
+}
+}}}