java/src/liba/pid.java

   1 package liba;
   2
   3 import java.nio.ByteBuffer;
   4
   5 /** proportional integral derivative controller */
   6 public class pid {
   7     ByteBuffer ctx;
   8     static {
   9         System.loadLibrary("a");
  10         clinit();
  11     }
  12
  13     static final native void clinit();
  14
  15     final native void init();
  16
  17     /**
  18      * construct a new {@link pid} object
  19      */
  20     public pid() {
  21         init();
  22     }
  23
  24     /**
  25      * get proportional constant for PID controller
  26      *
  27      * @return proportional constant
  28      */
  29     public final native double kp();
  30
  31     /**
  32      * set proportional constant for PID controller
  33      *
  34      * @param kp proportional constant
  35      * @return {@link pid}
  36      */
  37     public final native pid set_kp(double kp);
  38
  39     /**
  40      * get integral constant for PID controller
  41      *
  42      * @return integral constant
  43      */
  44     public final native double ki();
  45
  46     /**
  47      * set integral constant for PID controller
  48      *
  49      * @param ki integral constant
  50      * @return {@link pid}
  51      */
  52     public final native pid set_ki(double ki);
  53
  54     /**
  55      * get derivative constant for PID controller
  56      *
  57      * @return derivative constant
  58      */
  59     public final native double kd();
  60
  61     /**
  62      * set derivative constant for PID controller
  63      *
  64      * @param kd derivative constant
  65      * @return {@link pid}
  66      */
  67     public final native pid set_kd(double kd);
  68
  69     /**
  70      * get maximum integral output for PID controller
  71      *
  72      * @return maximum integral output
  73      */
  74     public final native double summax();
  75
  76     /**
  77      * set maximum integral output for PID controller
  78      *
  79      * @param max maximum integral output
  80      * @return {@link pid}
  81      */
  82     public final native pid set_summax(double max);
  83
  84     /**
  85      * get minimum integral output for PID controller
  86      *
  87      * @return minimum integral output
  88      */
  89     public final native double summin();
  90
  91     /**
  92      * set minimum integral output for PID controller
  93      *
  94      * @param min minimum integral output
  95      * @return {@link pid}
  96      */
  97     public final native pid set_summin(double min);
  98
  99     /**
 100      * get cached integral output for PID controller
 101      *
 102      * @return cached integral output
 103      */
 104     public final native double sum();
 105
 106     /**
 107      * get maximum final output for PID controller
 108      *
 109      * @return maximum final output
 110      */
 111     public final native double outmax();
 112
 113     /**
 114      * set maximum final output for PID controller
 115      *
 116      * @param max maximum final output
 117      * @return {@link pid}
 118      */
 119     public final native pid set_outmax(double max);
 120
 121     /**
 122      * get minimum final output for PID controller
 123      *
 124      * @return minimum final output
 125      */
 126     public final native double outmin();
 127
 128     /**
 129      * set minimum final output for PID controller
 130      *
 131      * @param min minimum final output
 132      * @return {@link pid}
 133      */
 134     public final native pid set_outmin(double min);
 135
 136     /**
 137      * get cached output for PID controller
 138      *
 139      * @return cached output
 140      */
 141     public final native double out();
 142
 143     /**
 144      * get cached feedback for PID controller
 145      *
 146      * @return cached feedback
 147      */
 148     public final native double fdb();
 149
 150     /**
 151      * get cached error for PID controller
 152      *
 153      * @return cached error
 154      */
 155     public final native double err();
 156
 157     /**
 158      * set proportional integral derivative constant for PID controller
 159      *
 160      * @param kp proportional constant
 161      * @param ki integral constant
 162      * @param kd derivative constant
 163      * @return {@link pid}
 164      */
 165     public final native pid set_kpid(double kp, double ki, double kd);
 166
 167     /**
 168      * calculate for PID controller
 169      *
 170      * @param set setpoint value
 171      * @param fdb feedback value
 172      * @return setpoint value
 173      */
 174     public final native double run(double set, double fdb);
 175
 176     /**
 177      * calculate for positional PID controller
 178      *
 179      * @param set setpoint value
 180      * @param fdb feedback value
 181      * @return output value
 182      */
 183     public final native double pos(double set, double fdb);
 184
 185     /**
 186      * calculate for incremental PID controller
 187      *
 188      * @param set setpoint value
 189      * @param fdb feedback value
 190      * @return output value
 191      */
 192     public final native double inc(double set, double fdb);
 193
 194     /**
 195      * zeroing for PID controller
 196      *
 197      * @return {@link pid}
 198      */
 199     public final native pid zero();
 200 }