PIDFController

class PIDFController @JvmOverloads constructor( pid: PIDGains, kV: Double = 0.0, kA: Double = 0.0, kStatic: Double = 0.0, kF: (Double, Double?) -> Double = { _, _ -> 0.0 })

Constructors

fun PIDFController( pid: PIDGains, kV: Double = 0.0, kA: Double = 0.0, kStatic: Double = 0.0, kF: (Double, Double?) -> Double = { _, _ -> 0.0 })

fun reset()

Reset the controller's integral sum.

fun update(measuredPosition: Double, measuredVelocity: Double? = null): Double

Run a single iteration of the controller.