com.arcrobotics.ftclib.controller

Class PController

java.lang.Object

com.arcrobotics.ftclib.controller.PIDFController

com.arcrobotics.ftclib.controller.PController

public class PController
extends PIDFController

Constructor Summary

Constructors

Constructor and Description
PController(double p) Default constructor, only takes a p-value.
PController(double p, double sp, double pv, double period) The extended constructor.

Method Summary

Modifier and Type	Method and Description
void	pControl(Motor affected, double sp, double pv) Implements a p control calculation onto the affected motor.
void	pControl(Motor affected, double sp, double pv, double speed) Implements a p control calculation onto the affected motor.

Methods inherited from class com.arcrobotics.ftclib.controller.PIDFController

atSetPoint, calculate, calculate, calculate, getCoefficients, getPeriod, getPositionError, getSetPoint, getTolerance, getVelocityError, reset, setSetPoint, setTolerance, setTolerance

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PController

public PController(double p)

Default constructor, only takes a p-value.

Parameters:

p - The value of kP for the coefficients.

PController

public PController(double p,
                   double sp,
                   double pv,
                   double period)

The extended constructor.

Method Detail

pControl

public void pControl(Motor affected,
                     double sp,
                     double pv,
                     double speed)

Implements a p control calculation onto the affected motor.

Parameters:

affected - The affected motor of the mechanism.

sp - The setpoint of the calculation.

pv - The previous value of the calculation.

speed - The maximum speed the motor should rotate.

pControl

public void pControl(Motor affected,
                     double sp,
                     double pv)

Implements a p control calculation onto the affected motor.

Parameters:

affected - The affected motor of the mechanism.

sp - The setpoint of the calculation.

pv - The previous value of the calculation.