Commit | Line | Data |
---|---|---|
0788fd3d CZ |
1 | package org.usfirst.frc.team3501.robot.utils; |
2 | ||
424c070c | 3 | import org.usfirst.frc.team3501.robot.Constants; |
0788fd3d CZ |
4 | import org.usfirst.frc.team3501.robot.MathLib; |
5 | ||
424c070c E |
6 | import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; |
7 | import edu.wpi.first.wpilibj.tables.ITable; | |
8 | import edu.wpi.first.wpilibj.tables.ITableListener; | |
9 | ||
10 | public class PIDController implements LiveWindowSendable { | |
0788fd3d CZ |
11 | |
12 | private double pConst; | |
13 | private double iConst; | |
14 | private double dConst; | |
15 | private double setPoint; | |
16 | private double previousError; | |
17 | private double errorSum; | |
18 | private double errorIncrement; | |
19 | private double iRange; | |
20 | private double doneRange; | |
21 | private boolean firstCycle; | |
22 | private double maxOutput; | |
23 | private int minDoneCycleCount; | |
24 | private int doneCycleCount; | |
424c070c | 25 | private ITable table; |
0788fd3d CZ |
26 | |
27 | public PIDController() { | |
28 | this(0.0, 0.0, 0.0, 0.0, 0.0); | |
29 | } | |
30 | ||
31 | public PIDController(double p, double i, double d, double eps, | |
32 | double iRange) { | |
33 | this.pConst = p; | |
34 | this.iConst = i; | |
35 | this.dConst = d; | |
36 | this.setPoint = 0.0; | |
37 | ||
38 | this.iRange = iRange; | |
39 | this.errorIncrement = 1.0; | |
40 | ||
41 | this.doneRange = eps; | |
42 | this.doneCycleCount = 0; | |
43 | this.minDoneCycleCount = 5; | |
44 | ||
45 | this.firstCycle = true; | |
46 | ||
47 | this.maxOutput = 1.0; | |
48 | ||
49 | } | |
50 | ||
51 | public PIDController(double p, double i, double d, double eps) { | |
52 | this(p, i, d, eps, eps * 0.8); | |
53 | } | |
54 | ||
55 | public PIDController(double p, double i, double d) { | |
56 | this(p, i, d, 1.0); | |
57 | } | |
58 | ||
59 | public void setConstants(double p, double i, double d) { | |
60 | this.pConst = p; | |
61 | this.iConst = i; | |
62 | this.dConst = d; | |
63 | } | |
64 | ||
65 | public void setConstants(double p, double i, double d, double eps, | |
66 | double iRange) { | |
67 | this.pConst = p; | |
68 | this.iConst = i; | |
69 | this.dConst = d; | |
70 | this.doneRange = eps; // range of error | |
71 | this.iRange = iRange; | |
72 | } | |
73 | ||
74 | public void setConstants(double p, double i, double d, double eps) { | |
75 | setConstants(p, i, d, eps, eps * 0.8); | |
76 | } | |
77 | ||
78 | public void setDoneRange(double range) { | |
79 | this.doneRange = range; | |
80 | } | |
81 | ||
82 | public void setIRange(double eps) { | |
83 | this.iRange = eps; | |
84 | } | |
85 | ||
424c070c E |
86 | public void setSetPoint(double VAL) { |
87 | this.setPoint = VAL; | |
0788fd3d CZ |
88 | } |
89 | ||
90 | public void setMaxOutput(double max) { | |
91 | if (max < 0.0) { | |
92 | this.maxOutput = 0.0; | |
93 | } else if (max > 1.0) { | |
94 | this.maxOutput = 1.0; | |
95 | } else { | |
96 | this.maxOutput = max; | |
97 | } | |
98 | } | |
99 | ||
100 | public void setMinDoneCycles(int num) { | |
101 | this.minDoneCycleCount = num; | |
102 | } | |
103 | ||
104 | public void resetErrorSum() { | |
105 | this.errorSum = 0.0; | |
106 | } | |
107 | ||
424c070c | 108 | public double getDesiredVAL() { |
0788fd3d CZ |
109 | return this.setPoint; |
110 | } | |
111 | ||
112 | public double calcPID(double current) { | |
113 | return calcPIDError(this.setPoint - current); | |
114 | } | |
115 | ||
116 | public double calcPIDError(double error) { | |
424c070c E |
117 | double pVAL = 0.0; |
118 | double iVAL = 0.0; | |
119 | double dVAL = 0.0; | |
0788fd3d CZ |
120 | |
121 | if (this.firstCycle) { | |
122 | this.previousError = error; | |
123 | this.firstCycle = false; | |
124 | } | |
125 | ||
424c070c | 126 | pVAL = this.pConst * error; |
0788fd3d CZ |
127 | |
128 | // + error outside of acceptable range which might distort the sum calc | |
129 | if (error > this.iRange) { | |
130 | // check if error sum was in the wrong direction | |
131 | if (this.errorSum < 0.0) { | |
132 | this.errorSum = 0.0; | |
133 | } | |
134 | // only allow up to the max contribution per cycle | |
135 | this.errorSum += Math.min(error, this.errorIncrement); | |
136 | } // - error outside of acceptable range | |
137 | else if (error < -1.0 * this.iRange) { | |
138 | // error sum was in the wrong direction | |
139 | if (this.errorSum > 0.0) { | |
140 | this.errorSum = 0.0; | |
141 | } | |
142 | // add either the full error or the max allowable amount to sum | |
143 | this.errorSum += Math.max(error, -1.0 * this.errorIncrement); | |
144 | } | |
145 | ||
146 | // i contribution (final) calculation | |
424c070c | 147 | iVAL = this.iConst * this.errorSum; |
0788fd3d CZ |
148 | |
149 | // /////D Calc/////// | |
150 | double deriv = error - this.previousError; | |
424c070c | 151 | dVAL = this.dConst * deriv; |
0788fd3d CZ |
152 | |
153 | // overal PID calc | |
424c070c | 154 | double output = pVAL + iVAL + dVAL; |
0788fd3d CZ |
155 | |
156 | // limit the output | |
157 | output = MathLib.limitValue(output, this.maxOutput); | |
158 | ||
424c070c | 159 | // store current VALue as previous for next cycle |
0788fd3d CZ |
160 | this.previousError = error; |
161 | return output; | |
162 | } | |
163 | ||
164 | public boolean isDone() { | |
165 | double currError = Math.abs(this.previousError); | |
166 | ||
167 | // close enough to target | |
168 | if (currError <= this.doneRange) { | |
169 | this.doneCycleCount++; | |
0788fd3d CZ |
170 | } |
171 | // not close enough to target | |
172 | else { | |
173 | this.doneCycleCount = 0; | |
174 | } | |
175 | ||
176 | return this.doneCycleCount >= this.minDoneCycleCount; | |
177 | } | |
424c070c E |
178 | |
179 | private final ITableListener m_listener = (table, key, value, isNew) -> { | |
180 | if (key.equals(Constants.DriveTrain.P_VAL) | |
181 | || key.equals(Constants.DriveTrain.I_VAL) | |
da6ceb76 | 182 | || key.equals(Constants.DriveTrain.D_VAL)) { |
424c070c E |
183 | if (getP() != table.getNumber(Constants.DriveTrain.P_VAL, 0.0) |
184 | || getP() != table.getNumber(Constants.DriveTrain.I_VAL, 0.0) | |
185 | || getD() != table.getNumber(Constants.DriveTrain.D_VAL, 0.0)) { | |
186 | setConstants(table.getNumber(Constants.DriveTrain.P_VAL, 0.0), | |
187 | table.getNumber(Constants.DriveTrain.I_VAL, 0.0), | |
da6ceb76 | 188 | table.getNumber(Constants.DriveTrain.D_VAL, 0.0)); |
424c070c E |
189 | } |
190 | } else if (key.equals(Constants.DriveTrain.SETPOINT)) { | |
191 | if (getSetpoint() != (Double) value) { | |
192 | setSetPoint((Double) value); | |
193 | } | |
194 | } | |
195 | }; | |
196 | ||
197 | @Override | |
198 | public void initTable(ITable table) { | |
199 | ||
200 | if (this.table != null) { | |
201 | table.removeTableListener(m_listener); | |
202 | } | |
203 | this.table = table; | |
204 | if (table != null) { | |
205 | table.putNumber(Constants.DriveTrain.P_VAL, getP()); | |
206 | table.putNumber(Constants.DriveTrain.I_VAL, getI()); | |
207 | table.putNumber(Constants.DriveTrain.D_VAL, getD()); | |
208 | table.putNumber(Constants.DriveTrain.SETPOINT, getSetpoint()); | |
209 | table.addTableListener(m_listener, false); | |
210 | } | |
211 | ||
212 | } | |
213 | ||
214 | private double getP() { | |
215 | return this.pConst; | |
216 | } | |
217 | ||
218 | private double getI() { | |
219 | return this.iConst; | |
220 | } | |
221 | ||
222 | private double getD() { | |
223 | return this.dConst; | |
224 | } | |
225 | ||
226 | private double getSetpoint() { | |
227 | return this.setPoint; | |
228 | } | |
229 | ||
230 | @Override | |
231 | public ITable getTable() { | |
232 | // TODO Auto-generated method stub | |
233 | return null; | |
234 | } | |
235 | ||
236 | @Override | |
237 | public String getSmartDashboardType() { | |
238 | return "Drive Controller"; | |
239 | } | |
240 | ||
241 | @Override | |
242 | public void updateTable() { | |
243 | ||
244 | } | |
245 | ||
246 | @Override | |
247 | public void startLiveWindowMode() { | |
248 | // TODO Auto-generated method stub | |
249 | ||
250 | } | |
251 | ||
252 | @Override | |
253 | public void stopLiveWindowMode() { | |
254 | // TODO Auto-generated method stub | |
255 | ||
256 | } | |
0788fd3d | 257 | } |