@Override public double getProportionalGain() { return proportionalGain.getValue(); }
@Override public double getPositionDeadband() { return deadband.getValue(); }
@Override public double getMaximumFeedback() { return maxOutput.getValue(); }
@Override public double getIntegralGain() { return integralGain.getValue(); }
@Override public double getTime() { return timeProvider.getValue(); }
@Override public double getTimeInCurrentState() { return timeProvider.getValue() - timeOfLastStateChange; }
@Override public double getTime() { return timeProvider.getValue(); }
@Override public double getPositionDeadband() { return positionDeadband.getValue(); } }
@Override public double getIntegralLeakRatio() { return integralLeakRatio.getValue(); }
@Override public void notifyStateChanged() { timeOfLastStateChange = timeProvider.getValue(); }
@Override public double getStictionMagnitude() { return stictionValue.getValue(); } }
@Override public double getDerivativeGain() { return derivativeGain.getValue(); } };
@Override public double getProportionalGain() { return proportionalGain.getValue(); }
@Override public double getDerivativeGain() { return derivativeGain.getValue(); }
@Override public double getMaxIntegralError() { return maxIntegralError.getValue(); }
@Override public void compute(double x) { double x_n = 1.0; value = 0.0; for (int index = 0; index < coefficients.size(); index++) { value = value + coefficients.get(index).getValue() * x_n; x_n = x_n * x; } }
@Override public void notifyStateChanged() { timeOfLastStateChange.set(timeProvider.getValue()); }