SqrtController

class SqrtController @JvmOverloads constructor(var kP: Double = 0.0, var kI: Double = 0.0, var kD: Double = 0.0, kF: Feedforward = StaticFeedforward(0.0), var setPointTolerance: Double = 10.0) : PIDFController

This is a Square Root Controller, which is a proportional controller that uses the square root of the error instead of just the error.

pid

PID coefficients

custom feedforward that depends on position

Constructors

constructor(kP: Double = 0.0, kI: Double = 0.0, kD: Double = 0.0, kF: Feedforward = StaticFeedforward(0.0), setPointTolerance: Double = 10.0)

The tolerance for being "at the target"

open override var target: Double

The target for the reference to converge to.

Whether the controller is within a tolerable distance of the target

open override fun calculate(pv: Double): Double

Given a reference, calculates how to best match the target.

open override fun calculate(pv: Double, target: Double): Double

open override fun reset()

Resets the control loop