Class: PidController

Defined in: src/sdk/utils/controllers/PidController.ts:23

A PID controller.

Constructors

Constructor

new PidController(kP, kI, kD, maxOut, minOut, maxI, minI): PidController

Defined in: src/sdk/utils/controllers/PidController.ts:44

Creates a new PidController.

Parameters

Parameter	Type	Default value	Description
kP	number	undefined	The proportional gain of the controller.
kI	number	undefined	The integral gain of the controller.
kD	number	undefined	The differential gain of the controller.
maxOut	number	undefined	The maximum output of the controller.
minOut	number	undefined	The minumum output of the controller.
maxI	number	Number.MAX_SAFE_INTEGER	The maximum integral gain.
minI	number	Number.MIN_SAFE_INTEGER	The minimum integral gain.

Returns

PidController

Methods

getOutput()

getOutput(deltaTime, error): number

Defined in: src/sdk/utils/controllers/PidController.ts:62

Gets the output of the PID controller at a given time.

Parameters

Parameter	Type	Description
deltaTime	number	The difference in time between the previous sample and this sample.
error	number	The amount of error seen between the desired output and the current output.

Returns

number

The PID output.

---

getPreviousError()

getPreviousError(): number | undefined

Defined in: src/sdk/utils/controllers/PidController.ts:52

Gets this controller's most recent error input since it was created or reset.

Returns

number | undefined

This controller's most recent error input since it was created or reset.

---

reset()

reset(): void

Defined in: src/sdk/utils/controllers/PidController.ts:83

Resets the controller.

Returns

void

---

clamp()

static clamp(value, max, min): number

Defined in: src/sdk/utils/controllers/PidController.ts:96

Clamps a number to maximum and minimum values.

Parameters

Parameter	Type	Description
value	number	The value to clamp.
max	number	The maximum value.
min	number	The minumum value.

Returns

number

The clamped value.