@Override public void set(SE3PIDGainsInterface gains) { positionGains.set(gains.getPositionGains()); orientationGains.set(gains.getOrientationGains()); }
public void setGains(SE3PIDGainsInterface gains) { positionController.setGains(gains.getPositionGains()); orientationController.setGains(gains.getOrientationGains()); }
@Override public void set(PositionPIDGainsInterface gains) { setProportionalGains(gains.getProportionalGains()); setDerivativeGains(gains.getDerivativeGains()); setIntegralGains(gains.getIntegralGains(), gains.getMaximumIntegralError()); setTangentialDampingGains(gains.getTangentialDampingGains()); setMaxFeedbackAndFeedbackRate(gains.getMaximumFeedback(), gains.getMaximumFeedbackRate()); setMaxDerivativeError(gains.getMaximumDerivativeError()); setMaxProportionalError(gains.getMaximumProportionalError()); }
@Override public void set(OrientationPIDGainsInterface gains) { setProportionalGains(gains.getProportionalGains()); setDerivativeGains(gains.getDerivativeGains()); setIntegralGains(gains.getIntegralGains(), gains.getMaximumIntegralError()); setMaxFeedbackAndFeedbackRate(gains.getMaximumFeedback(), gains.getMaximumFeedbackRate()); setMaxDerivativeError(gains.getMaximumDerivativeError()); setMaxProportionalError(gains.getMaximumProportionalError()); }
@Override public void set(OrientationPIDGainsInterface gains) { setProportionalGains(gains.getProportionalGains()); setDerivativeGains(gains.getDerivativeGains()); setIntegralGains(gains.getIntegralGains(), gains.getMaximumIntegralError()); setMaxFeedbackAndFeedbackRate(gains.getMaximumFeedback(), gains.getMaximumFeedbackRate()); setMaxDerivativeError(gains.getMaximumDerivativeError()); setMaxProportionalError(gains.getMaximumProportionalError()); }
@Override public double compute(double currentPosition, double desiredPosition, double currentRate, double desiredRate, double deltaTime) { checkGainReductionUpToDate(); setGainsReducedIfBacklash(); return super.compute(currentPosition, desiredPosition, currentRate, desiredRate, deltaTime); }
public void set(PDGainsInterface other) { setKp(other.getKp()); setKd(other.getKd()); setMaxFeedback(other.getMaximumFeedback()); setMaxFeedbackRate(other.getMaximumFeedbackRate()); }
public void set(TangentialDampingGains tangentialDampingGains) { if (tangentialDampingGains != null) { set(tangentialDampingGains.getKdReductionRatio(), tangentialDampingGains.getParallelDampingDeadband(), tangentialDampingGains.getPositionErrorForMinimumKd()); } }
@Override public double computeForAngles(double currentPosition, double desiredPosition, double currentRate, double desiredRate, double deltaTime) { checkGainReductionUpToDate(); setGainsReducedIfBacklash(); return super.computeForAngles(currentPosition, desiredPosition, currentRate, desiredRate, deltaTime); }
@Override public void set(SE3PIDGainsInterface gains) { set(gains.getPositionGains()); set(gains.getOrientationGains()); }
public void resetIntegrator() { orientationController.resetIntegrator(); positionController.resetIntegrator(); }
public void set(double kpPosition, double zetaPosition, double kiPosition, double maxIntegralPosError, double kpOrientation, double zetaOrientation, double kiOrientation, double maxIntegralOriError) { double kdPosition = GainCalculator.computeDerivativeGain(kpPosition, zetaPosition); setPositionGains(kpPosition, kdPosition, kiPosition, maxIntegralPosError); double kdOrientation = GainCalculator.computeDerivativeGain(kpOrientation, zetaOrientation); setOrientationGains(kpOrientation, kdOrientation, kiOrientation, maxIntegralOriError); }
public double computeForAngles(double currentPosition, double desiredPosition, double currentRate, double desiredRate, double deltaTime) { pdController.computeForAngles(currentPosition, desiredPosition, currentRate, desiredRate); return computeIntegralEffortAndAddPDEffort(deltaTime); }
public double compute(double currentPosition, double desiredPosition, double currentRate, double desiredRate, double deltaTime) { getPDController().compute(currentPosition, desiredPosition, currentRate, desiredRate); return computeIntegralEffortAndAddPDEffort(deltaTime); }
public double getPositionError() { return getPDController().getPositionError(); }
public double getRateError() { return getPDController().getRateError(); }
@Override public double compute(double currentPosition, double desiredPosition, double currentRate, double desiredRate, double deltaTime) { checkGainReductionUpToDate(); setGainsReducedIfBacklash(); return super.compute(currentPosition, desiredPosition, currentRate, desiredRate, deltaTime); }
public void set(TangentialDampingGains tangentialDampingGains) { if (tangentialDampingGains != null) { set(tangentialDampingGains.getKdReductionRatio(), tangentialDampingGains.getParallelDampingDeadband(), tangentialDampingGains.getPositionErrorForMinimumKd()); } }