Package com.asiankoala.koawalib.control.controller

Types

data class ADRCConfig( val delta: Double, val b0: Double, val tSettle: Double, val kESO: Double, val duConstraint: Double, val halfGains: Pair<Boolean, Boolean>, val uConstraint: Double)

data class Bounds @JvmOverloads constructor(val lowerBound: Double? = null, val upperBound: Double? = null)

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

data class PIDGains( var kP: Double = 0.0, var kI: Double = 0.0, var kD: Double = 0.0)