public PDController(YoPDGains pdGains, String suffix, YoVariableRegistry registry) { super(suffix, registry); this.proportionalGain = pdGains.getYoKp(); this.derivativeGain = pdGains.getYoKd(); this.positionDeadband = pdGains.getYoPositionDeadband(); }
public YoLimitedPDGains(String suffix, double controlDT, YoVariableRegistry registry) { super(suffix, registry); maxKpRate = new YoDouble("maxKpRate" + suffix, registry); maxKdRate = new YoDouble("maxKdRate" + suffix, registry); limitedKp = new RateLimitedYoVariable("limitedKp" + suffix, registry, maxKpRate, super.getYoKp(), controlDT); limitedKd = new RateLimitedYoVariable("limitedKd" + suffix, registry, maxKdRate, super.getYoKd(), controlDT); maxKpRate.set(Double.POSITIVE_INFINITY); maxKdRate.set(Double.POSITIVE_INFINITY); }
public PassiveJointController(OneDegreeOfFreedomJoint simulatedJoint, YoPDGains gains) { registry = new YoVariableRegistry(simulatedJoint.getName() + name); jointController = new PDController(gains.getYoKp(), gains.getYoKd(), simulatedJoint.getName() + "PassiveController", registry); this.simulatedJoint = simulatedJoint; jointController.setProportionalGain(36000.0); jointController.setDerivativeGain(1000.0); }
assertEquals(kp, gains.getYoKp().getDoubleValue(), 1e-6); assertEquals(kd, gains.getKd(), 1e-6); assertEquals(kd, gains.getYoKd().getDoubleValue(), 1e-6);